Six gyroscope redundant strapdown inertial navigation system double fault isolation method

The invention belongs to the field of inertial navigation systems, and particularly relates to a six gyroscope redundant strapdown inertial navigation system double fault isolation method. The methodcomprises the following steps that output data of a redundant strapdown inertial navigation system inertial device is collected, and output values of a gyroscope and an accelerometer at different moments are obtained; a generalized likelihood ratio fault detection method is adopted to detect faults, and if a fault happens, the fault moment is recorded; a double fault isolation method based on maximum likelihood estimation is adopted to conduct fault isolation; a fault isolation method based on reduced-order odd-even vectors is adopted to conduct fault isolation; a fault information matrix R isdetermined, and system reconfiguration is conducted according to a system reconfiguration formula. By the adoption of the six gyroscope redundant system double fault detection and isolation method, two inertial devices which