[1] [1] ZOLGHADRI A.Advanced model-based FDIR techniques for aerospace systems:today challenges and opportunities［J］.Progress in Aerospace Sciences, 2012, 53(8):18-29.

[4] [4] SASANI S, ASGARI J, AMIRI-SIMKOOEI A R.Improving MEMS-IMU/GPS integrated systems for land vehicle navigation applications［J］.GPS Solutions, 2016, 20(1):89-100.

[5] [5] BRUGGEMANN T S, GREER D G, WALKER R A.GPS fault detection with IMU and aircraft dynamics［J］.IEEE Transactions on Aerospace and Electronic Systems, 2011, 47(1):305-316.

[6] [6] JOERGER M, PERVAN B.Kalman filter-based integrity monitoring against sensor faults［J］.Journal of Guidance, Control, and Dynamics, 2013, 36(2):349-361.

[7] [7] JOERGER M, PERVAN B.Fault detection and exclusion using solution separation and chi-squared ARAIM［J］.IEEE Transactions on Aerospace and Electronic Systems, 2016, 52(2):726-742.

[8] [8] RAKIPI A, KAMO B, CAKAJ S, et al.Integrity monitoring in navigation systems:fault detection and exclusion RAIM algorithm implementation［J］.Journal of Computer and Communications, 2015, 3(6):25-33.

[11] [11] QIN S J.Survey on data-driven industrial process monitor-ing and diagnosis［J］.Annual Reviews in Control, 2012, 36(2):220-234.

[12] [12] QIN S J.Statistical process monitoring:basics and beyond［J］.Journal of Chemometrics, 2003, 17(8/9):480-502.