针对传统新息χ2检测法不能准确判断故障持续时间而造成的误警、漏警等问题，提出了一种基于层次滤波器结构的故障检测与系统重构新方法: 利用新息检测法对各主、子滤波器进行故障检测，通过比较各滤波器检测结果识别出故障卫星号，将不包含故障星的子滤波器结果反馈到主滤波器及其他子滤波器，并代替其滤波结果对系统进行重构，进而辅助新息χ2检测法进行故障检测。试验结果表明，在单星故障条件下，相比于传统新息χ2检测法，新方法减弱了新息χ2检测法的跟踪作用，实现了对故障星及故障时间的准确判定，提高了组合导航系统的完好性监测能力。

The conventional residual chi-square test can not accurately detemine the fault duration and thus is easy to cause false alarm and alarm leakage.Aimed at this problem, a fault detection and system reconstruction method based on hierarchical filtering is proposed.The residual chi-square test is used for fault detection of main and sub filters, and the specific failure satellite can be identified by comparing the detection results.Then, the filtering results of the sub filter uncontaining the failure satellite are feedback to the main filter and other filters and replace the results of them to reconstruct the system.The results show that: Under the condition of single satellite failure, the novel algorithm can reduce the fault tracing function, determine the failure satellite and fault duration more accurately, and improve the integrity monitoring performance significantly.