The invention discloses a
satellite / inertial / visual combination
navigation system integrity evaluation method, relates to integrity evaluation of a multi-sensor combination
navigation system and belongs to the calculating, reckoning and counting technology fields. In the method, a measured value of each sensor at
current time is preprocessed to obtain an observation vector of each sensor at the
current time, and the observation vector of each sensor at the
current time is expressed as
multiple edges having a common
pose node. A relationship between the
pose node and the edges is used,
graph optimization is used to construct a residual weighted quadratic sum function, and a
firefly algorithm with high robustness is adopted to optimize the
pose node to solve an optimal solution of the residual weighted quadratic sum function and realize a
global optimum. And then, test statistics is calculated and the test statistics is compared with a
detection threshold so as to determine whether there is a fault. A
system calculation amount is reduced, a time
delay problem caused by sudden increase of memory consumption over time is avoided, and a real-time detection requirement can be satisfied.