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The false alarm of a fault detection module in aircraft will interfere with flight. If there is a time-offset between the inertial navigation system (INS) and air data system (ADS), the probability of a false alarm (PFA) of the fault detection module will increase, which is ignored in existing approaches. To address the problem, a fault detection approach is proposed applied to INS/ADS with a time-offset. An INS/ADS fault detection model based on kinematic equations is developed, and we combinedoi:10.1049/rsn2.12092 fatcat:p2kuiw7oczcelp2t4hp45dbiv4