Fault monitoring method and device for multi-IMUSGNSS integrated navigation system

The invention discloses a fault monitoring method and device for a multi-IMUSGNSS integrated navigation system, and belongs to the technical field of navigation systems. The fault monitoring method for the multi-IMUSGNSS integrated navigation system comprises the following steps: respectively inputting a plurality of acquired GNSS pseudo-range measurement values corresponding to GNSS sensors and an IMU pseudo-range measurement value corresponding to a target IMU sensor in a plurality of IMU sensors into a sub-Kalman filter corresponding to the target IMU sensor, and acquiring a plurality of test statistical values output by the sub-Kalman filter; determining a fault monitoring threshold value corresponding to each sub-Kalman filter based on the plurality of test statistical values and the continuity risk probability corresponding to each sub-Kalman filter; and respectively determining the working state of the IMU sensor corresponding to each sub-Kalman filter based on the plurality of test statistical values