The application provides a low-
orbit enhanced BDS and INS tight combination navigation
fault detection and isolation method, introduces an FDE method based on adaptive maximum
correlation entropy robust filtering, constructs a unified BDS / LEO / INS tight combination
mathematical model, and studies a rough error detection and
elimination method under multi-source heterogeneous observation conditions. Experimental results show that the FDE method can effectively identify and eliminate rough error satellites, significantly improve the
system positioning accuracy, and compared with the BDS / INS tight
combination system without using FDE, the east, north and
sky direction positioning accuracy is improved by 86.56%, 77.12% and 51.80% respectively after introducing FDE; under the enhancement of LEO, the BDS / LEO / INS-FDE
system is further improved to 86.95%, 82.60% and 53.94%. In addition, under the environment of
low observation satellites, the introduction of LEO satellites significantly improves the
satellite geometric configuration and enhances the navigation ability of the
system in the case of partial BDS
satellite failure, providing an effective theoretical method for continuous and reliable high-precision navigation in complex environments.