Aiming at the deficiency of multi-fault identification of integrated navigation system with the traditional fault
detection method, a fault detection and identification method based on subsets ??-value test is presented. Basically assisted
by inertial information, the method utilizes p-value to test the significant level of all subsets, and then calculates the quality
values of all measurements based on the decision strategy. According to the quality value, the faulty satellites are identificated.
Theoretical analysis and simulation results show that the method and scheme presented provide the better performance of
multiple faults identification, and can keep working in the condition of visible satellites’ number p 5. The presented method
improves the fault-tolerant ability and accuracy of INS/GPS tightly-coupled integrated navigation system.