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An Improved Soft Fault Detection Algorithm for GNSS/SINS Integrated Navigation System
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Lili LIU1, Xueyuan LIN1, *, Jingli FU1
Journal of Geodesy and Geodynamics | 2026, 46(1) : 34 - 39
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Journal of Geodesy and Geodynamics | 2026, 46(1): 34-39
An Improved Soft Fault Detection Algorithm for GNSS/SINS Integrated Navigation System
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Lili LIU1, Xueyuan LIN1, *, Jingli FU1
Affiliations
  • 1 School of Artificial Intelligence, Shandong Vocational University of Foreign Affairs, Weihai 264500, China
Published: 2026-01-15 doi: 10.14075/j.jgg.2025.01.588
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At present, the common detection method of integrated navigation system soft faults is to combine the sequential probability ratio test (SPRT) algorithm with the residual Chi-square detection algorithm. However, this algorithm has the defects of low detection accuracy and inability to detect multiple consecutive soft faults. Aiming at this problem, this paper first proposes an improved SPRT detection algorithm based on fading factor to reduce the influence of historical information on fault detection statistics and enhance the effect of current information on fault detection statistics. Then, the fault check statistic of the improved SPRT detection algorithm is designed, and combined with the residual Chi-square detection algorithm, an integrated navigation soft fault detection algorithm is proposed. Finally, based on GNSS/SINS integrated navigation system, this article has carried on the integrated navigation system soft failure detection simulation experiment.The experimental results show that compared with the classical algorithm, residual Chi-square detection algorithm, the improved algorithm not only has high precision and can accurately detect multiple consecutive soft faults, which can guarantee the stability of the integrated navigation system.

soft fault detection  /  sequential probability ratio test (SPRT)  /  fading factor  /  fault test statistics  /  integrated navigation
刘丽丽, 林雪原, 傅景礼. 一种改进的GNSS/SINS组合导航系统软故障检测算法. 大地测量与地球动力学, 2026 , 46 (1) : 34 -39 . DOI: 10.14075/j.jgg.2025.01.588
Lili LIU, Xueyuan LIN, Jingli FU. An Improved Soft Fault Detection Algorithm for GNSS/SINS Integrated Navigation System[J]. Journal of Geodesy and Geodynamics, 2026 , 46 (1) : 34 -39 . DOI: 10.14075/j.jgg.2025.01.588
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Year 2026 volume 46 Issue 1
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doi: 10.14075/j.jgg.2025.01.588
  • Receive Date：2025-01-01
  • Online Date：2026-10-29
  • Published：2026-01-15
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  • Received：2025-01-01
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    1 School of Artificial Intelligence, Shandong Vocational University of Foreign Affairs, Weihai 264500, China
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多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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