%A ZHANG Guo-liang;ZENG Jing;LI Tao;DENG Fang-lin %T Fault-tolerance Designing of Federal Kalman Filter for Gradual Changing Fault %0 Journal Article %D 2005 %J Acta Aeronautica et Astronautica Sinica %R %P 743-747 %V 26 %N 6 %U {https://hkxb.buaa.edu.cn/CN/abstract/article_9580.shtml} %8 2005-12-25 %X It is fundamental for integrated navigation system to possess fine fault tolerance. It is relatively easy for integrated navigation system to accomplish the abrupt changing fault detection and fault tolerating, as for gradual changing fault it is rather difficult. The federal Kalman Filter is applied in this essay for the state estimation of integrated navigation system, and the concept of observation quality as well as its fuzzy evaluation is presented to deal with the gradual changing fault. The observation quality is applied to detect the gradual changing fault of navigation system, and the observation quality is used to destruct the modified matrix of mean square error matrix of local filter estimation, the intelligent adaptive fault tolerance for gradual changing fault is designed for integrated navigation system. Finally, the simulation is accomplished.