中文摘要：

针对高动态下由于IMU，GPS异常导致松性组合导航系统精度下降，甚至无法正常工作的问题，具体分析了可能出现的多种异常组合，给出了相应的处理策略。在此基础上设计了一种基于DSP／FPGA硬件平台的弹载多级容错组合导航系统（MFTINS），并将其应用于某新型导弹的组合导航。同时，为了解决高动态情况下常规卡尔曼滤波（CKF）收敛性不佳、滤波精度降低甚至发散的问题，提出自适应卡尔曼滤波（AKF）。通过试验和分析，验证了组合导航系统设计及AKF的适用性和有效性。

英文摘要：

In view of the problems that the precision of loose integrated navigation system declines and the system even can not work when IMU and GPS are in abnormal state in high dynamic situation, the various types of abnormalities that may occur are analyzed and the appropriate treatment strategies are given in de- tail. On the basis, a kind of missile-borne multi-level fault tolerance integrated navigation system （MFT- INS） based on DSP/FPGA hardware platform is designed, which is applied to the integrated navigation of a new missile. At the same time, in order to solve the problem that the effect of conventional Kalman filter （CKF） is not satisfactory and even divergent, the adaptive Kalman filter（ AKF ） is proposed. The applica- bility and effectiveness of the design for integrated navigation system and AKF is proven through tests and analyses.