This technology of fault tolerant can not only avoid switching the integration pattern frequently, but also improve the filtering precision of the system, the continuity of data and the sensitivity of fault detection by eliminating the outliers. 该容错方法不仅可以避免因野值造成的组合模式的频繁切换,而且还通过剔除野值对滤波的影响,提高了系统滤波精度和数据的连续性,并提高了系统故障检测的灵敏度。