Inertial measurement unit redundancy diagnosis method based on multiple interactive models

The invention relates to an inertial measurement unit redundancy diagnosis method based on multiple interactive models. Whether output of a master inertial measurement unit and output of a slave inertial measurement unit are normal or not can be monitored in real time in the whole stage of the flight process. The invention innovatively provides an inertial measurement unit redundancy diagnosis method based on multiple interactive models, and solves the problem that the expansibility is relatively poor as a threshold needs to be designed according to different flight sections, actual ballistic trajectories and tasks in the online fault detection of a redundant inertial measurement unit at present; according to the method, the motion sub-models are established for each flight section of the rocket, the output results of the filters of the sub-models are subjected to weighted fusion processing to obtain the final estimation result, the estimation result is compared with the output and navigation calculation resu