Aiming at the problems of an inertial navigation system, such as poor accessibility for detection, difficulty in fault locating and lack of detecting means, we carried out a research on key technologies of fault diagnosis, proposed a Built-In test mechanism reconfiguration method of the inertial system, designed a portable fault diagnosis device based on the ZigBee wireless communication technology and utilized the inference algorithm for fault diagnosis based on a multi-signal flow graphs

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... to achieve accurate fault locating, thus greatly improving conditions for the system maintenance.