The invention discloses an integrated
navigation system fault diagnosis method based on
Gaussian process regression. The integrated
navigation system fault diagnosis method comprises five steps: 1, collecting a sample, and setting a fault
detection threshold; 2, initializing a
Gaussian process regression model; 3, training the
Gaussian process regression model; 4, inputting a
system measurement quantity to the
Gaussian process regression model so as to obtain a predicted value of Kalman filtering information and a variance of the predicted value; 5, constructing a fault detection quantity, comparing the fault detection quantity with a fault
detection threshold, and judging whether a fault occurs. The integrated
navigation system fault diagnosis method has the advantages of being easy to realize, being capable of giving the variance of a predicted output value, and the like, and provides an assurance to the reliability and accuracy of combined navigation.
Model parameters are remarkably reduced, and hyper-parameters can be conveniently calculated through a numerical
analysis method, thus the integrated navigation
system fault diagnosis method has the
advantage of being easy to realize.