Abstract: A new failure detection method is proposed for the integrated INS/GPS navigation system. Meanwhile, the correction of Kalman filter with failure is also proposed. The stability of innovation sequence can be detected and the failure can be estimated by the law of great numbers. The new method is very simple, direct and sensitive; it needs no a priori information. The simulation result proves that the new method is very practical and efficient; the reliability and safety of the system can be improved.

Key words: Kalman filters, navigation, failure