An enhancement of integrity algorithm for GPS/SINS tightly coupled system

Integrity is a critical performance for GPS/SINS tightly coupled system, as the failure presented in GPS satellites must be detected and excluded before it contaminates the integrated system. To shorten the failure detection time, an innovation extrapolation method was proposed in this paper, and the algorithm's failure detection performance in the case of outliers, stair errors, slowing growing errors (SGEs) was simulated, the simulation results show that the proposed algorithm has a great improvement against the traditional innovation test method, especially in detecting SGEs. And the failure exclusion was realized by dint of a series of kalman filters.