{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,29]],"date-time":"2026-05-29T11:20:10Z","timestamp":1780053610152,"version":"3.54.0"},"reference-count":28,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2021,10,7]],"date-time":"2021-10-07T00:00:00Z","timestamp":1633564800000},"content-version":"vor","delay-in-days":279,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100005357","name":"Agent\u00fara na Podporu V\u00fdskumu a V\u00fdvoja","doi-asserted-by":"publisher","award":["SK-CN-RD-18-0015"],"award-info":[{"award-number":["SK-CN-RD-18-0015"]}],"id":[{"id":"10.13039\/501100005357","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Journal of Sensors"],"published-print":{"date-parts":[[2021,1]]},"abstract":"<jats:p>Aiming at abrupt faults in GNSS\/INS integrated systems in complex environments, classical fault detection algorithms are mostly developed from the measurement domain. A robust chi\u2010square test method based on the state domain is proposed in this paper. The fault detection statistic is built based on the difference between the prior state estimation and the posterior state estimation in Kalman filtering. To improve the calculation stability, singular value decomposition (SVD) is used to factor the covariance matrix of the difference. The relevant formulas of the proposed method were theoretically derived, and the relationship between the proposed method and the existing innovation chi\u2010square test method was revealed. The proposed method was compared with state\u2010of\u2010the\u2010art chi\u2010square test methods and verified by GNSS\/INS integrated navigation experiments using simulation data and real data. The experimental results show that the proposed method (a) directly works in the state domain, (b) does not require the known real system state, (c) has computational efficiency and good robustness, and (d) accurately detects abrupt faults.<\/jats:p>","DOI":"10.1155\/2021\/1745383","type":"journal-article","created":{"date-parts":[[2021,10,8]],"date-time":"2021-10-08T00:02:30Z","timestamp":1633651350000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":17,"title":["A State\u2010Domain Robust Chi\u2010Square Test Method for GNSS\/INS Integrated Navigation"],"prefix":"10.1155","volume":"2021","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8369-2828","authenticated-orcid":false,"given":"Zhangjun","family":"Yu","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5955-4337","authenticated-orcid":false,"given":"Qiuzhao","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5707-1238","authenticated-orcid":false,"given":"Ke","family":"Yu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5474-1854","authenticated-orcid":false,"given":"Nanshan","family":"Zheng","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2021,10,7]]},"reference":[{"key":"e_1_2_10_1_2","doi-asserted-by":"publisher","DOI":"10.1007\/s001900050202"},{"key":"e_1_2_10_2_2","doi-asserted-by":"publisher","DOI":"10.1017\/S0373463302002151"},{"key":"e_1_2_10_3_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10291-007-0084-6"},{"key":"e_1_2_10_4_2","first-page":"596","article-title":"GNSS\/INS tightly coupled navigation model based on robust EKF","volume":"36","author":"Wang J.","year":"2011","journal-title":"Geomatics and Information Science of Wuhan University"},{"key":"e_1_2_10_5_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2011.5705677"},{"key":"e_1_2_10_6_2","doi-asserted-by":"publisher","DOI":"10.1017\/S0373463315000430"},{"key":"e_1_2_10_7_2","doi-asserted-by":"publisher","DOI":"10.2514\/1.59480"},{"key":"e_1_2_10_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1987.1104658"},{"key":"e_1_2_10_9_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.cja.2013.04.039"},{"key":"e_1_2_10_10_2","doi-asserted-by":"publisher","DOI":"10.1002\/0471221279"},{"key":"e_1_2_10_11_2","first-page":"6596","article-title":"Sensitivity Analysis of the State Chi-Square Test","volume":"29","author":"Da R.","year":"1996","journal-title":"IFAC Proceedings"},{"key":"e_1_2_10_12_2","doi-asserted-by":"publisher","DOI":"10.2514\/3.21193"},{"key":"e_1_2_10_13_2","first-page":"43","article-title":"A two-stage fault detection structure for JIDS\/SINS\/GPS integrated navigation system","volume":"39","author":"Han R.","year":"2008","journal-title":"Avionics Technology"},{"key":"e_1_2_10_14_2","first-page":"696","article-title":"Application of hybrid chi-square test method in fault detection of integrated navigation system","volume":"24","author":"Zhang H. 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