航空或航天飞行器的高可靠惯性基准系统要求具有容错能力。本文着重讨论了它的容错设计和实现技术问题,即故障的检测、定位和系统重构(FDIR)技术,包括容错输出数据的产生、判定函数和软件监控与选择。 Highly reliable inertial reference systems for aerospace or aerospace vehicles require fault tolerance. This article focuses on its fault-tolerant design and implementation techniques, namely fault detection, location and system reconstruction (FDIR) techniques, including fault-tolerant output data generation, decision functions and software monitoring and selection.