以无人机飞行控制系统为代表的天地大回路控制系统为对象，用马尔科夫过程分别描述导航系统故障过程和完好性监测过程，在保持闭环系统随机稳定性的前提下，讨论了系统噪声与完好性监测延迟时间的关系，给出了一种确定完好性检测延迟时间范围的搜索算法，并进行了仿真验证。
In order to maintain the stochastic stability of flight control system of UAV, two Markov processes are used to model both GNSS system fault and integrity monitoring process. The relation between system noises and time to alert (TTA) of GNSS integrity monitor is studied, and a method to obtain the appropriate range of TTA is proposed.
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