A new dual-fault detection approach which fits for federated filter is put forward in order to get rid of the hard fault and soft fault which exist in the federated filtering subsystem.The residual Chi-square testing method for the federated filtering structure is presented to check the hard fault.The optimum global state estimate of k-m is used to construct the moving residual testing function and the undiscovered fault is accumulated to check the soft fault.The information distribution coefficient can be adjusted adaptively by the soft fault testing function.In SINS-Galileo-BDS integrated navigation system

the simulation results which compared with residual Chi-square testing method of local federated filtering and fault detection method of this paper show that this method is effective and characterized by high fault detection sensitivity and can improve the integrated navigation’s reliability.