Keywords FDD;FDI;parity space;GLT method;OPT method;robust;non-commutate errors;coning error;sculling error;high dynamic environment;SIMU;

• 故障检测与隔离;故障检测与诊断;奇偶空间;GLT方法;OPT方法;鲁棒;圆锥误差;划船误差;高动态环境;捷联惯组;