Combined inertial navigation not working组合惯性导航不工作

①Check the wiring harness connector检查线束接插件
1. Check whether the combined inertial navigation module wiring harness is damaged or broken.检查组合惯性导航模块线束是否存在损坏、断裂等现象。 2. Check the combined inertial navigation module harness connector for loose connections or damage.检查组合惯性导航模块线束接插件是否存在虚接、损坏等现象。 Are the test results normal?检查结果是否正常？ Yes → Go to step 2.是>>去步骤2。 No → Repair or replace the faulty wiring harness or connector.否>>维修或更换故障线束或接插件。
②Check CAN communication system检查CAN通讯系统
1. Check whether the CAN communication system is normal.检查CAN通讯系统是否正常。 Are the test results normal?检查结果是否正常？ Yes → Go to step 3.是>>去步骤3。 No → Troubleshoot the CAN communication system.否>>排除CAN通讯系统故障。
③Check fuse检查保险丝
	1. Power state is "OFF", disconnect the negative terminal of the 12V battery.电源状态“OFF”，断开蓄电池负极。 2. Check whether the fuse IF26/IF30 in the electrical box on the instrument panel is normal.检查仪表板电器盒中保险丝IF26/IF30是否正常。 IF26：7.5A IF30：7.5A Are the test results normal?检查结果是否正常？ Yes → Go to step 4.是>>去步骤4。 No → Replace the fuse with the same specification.否>>更换相同规格保险丝。
④Check the combined inertial navigation module power circuit检查组合惯性导航模块电源线路
	1. Power state is "OFF", disconnect the negative terminal of the 12V battery.电源状态“OFF”，断开蓄电池负极。 2. Disconnect the combined inertial navigation module harness connector BD67.断开组合惯性导航模块线束接插件BD67。 3. Connect the negative terminal of the 12V battery and the power status is "ON".连接蓄电池负极，电源状态“ON”。 4. Use a digital multimeter to measure the voltage between pin 6/12 of the BD67 and ground.用数字万用表测量BD67的6/12号针脚与接地之间的电压。 Standard voltage value: about 14V标准电压值：约14V Are the test results normal?检查结果是否正常？ Yes → Go to step 5.是>>去步骤5。 No → Repair or replace the combined inertial navigation module power harness.否>>维修或更换组合惯性导航模块电源线束。
⑤Check the power line of the integrated inertial navigation module IG1检查组合惯性导航模块IG1电源线路
	1. Power state is "OFF", disconnect the negative terminal of the 12V battery.电源状态“OFF”，断开蓄电池负极。 2. Disconnect the combined inertial navigation module harness connector BD67.断开组合惯性导航模块线束接插件BD67。 3. Connect the negative terminal of the 12V battery and the power status is "ON".连接蓄电池负极，电源状态“ON”。 4. Use a digital multimeter to measure the voltage between pin 11 of the combined inertial navigation module harness connector BD67 and ground.用数字万用表测量组合惯性导航模块线束接插件BD67的11号针脚与接地之间的电压。 Standard voltage value: about 14V标准电压值：约14V Are the test results normal?检查结果是否正常？ Yes → Go to step 6.是>>去步骤6。 No → Repair or replace the combined inertial navigation module IG1 power harness.否>>维修或更换组合惯性导航模块IG1电源线束。
⑥Check the combined inertial navigation module ground circuit检查组合惯性导航模块接地线路
	1. Power state is "OFF", disconnect the negative terminal of the 12V battery.电源状态“OFF”，断开蓄电池负极。 2. Disconnect the combined inertial navigation module harness connector BD67.断开组合惯性导航模块线束接插件BD67。 3. Use a digital multimeter to measure the resistance between pin 3/9 of the BD67 and ground.用数字万用表测量BD67的3/9号针脚与接地之间的电阻。 Standard resistance value: <1标准电阻值：＜1 Ω Are the test results normal?检查结果是否正常？ Yes → Go to step 7.是>>去步骤7。 No → Repair or replace the combined inertial navigation module grounding harness.否>>维修或更换组合惯性导航模块接地线束。
⑦Check the Integrated Inertial Navigation Module Ethernet Line检查组合惯性导航模块以太网线路
	1. Power state is "OFF", disconnect the negative terminal of the 12V battery.电源状态“OFF”，断开蓄电池负极。 2. Disconnect the combined inertial navigation module harness connector BD68 and the autonomous driving domain controller harness connector BD76.断开组合惯性导航模块线束接插件BD68和自动驾驶域控制器线束接插件BD76。 3. Use a digital multimeter to measure the resistance between pin 1/2 of BD68 and pin 5/6 of BD76.用数字万用表测量BD68的1/2号针脚与BD76的5/6号针脚之间的电阻。 Standard resistance value: <1标准电阻值：＜1 Ω Are the test results normal?检查结果是否正常？ Yes → Go to step 8.是>>去步骤8。 No → Repair or replace the combined inertial navigation module Ethernet harness.否>>维修或更换组合惯性导航模块以太网线束。
⑧Replace the combined inertial navigation module更换组合惯性导航模块
1. Replace the combined inertial navigation module and check whether the fault is eliminated.更换组合惯性导航模块，检查故障是否排除。 Are the test results normal?检查结果是否正常？ Yes → Fault resolved.是>>故障排除。 No → Find the cause from other fault symptoms.否>>从其他故障现象查找原因。   Caution:注意： ♦  After replacing the integrated inertial navigation module, a diagnostic instrument needs to be used to calibrate the integrated inertial navigation module.更换组合惯性导航模块后，需使用诊断仪对组合惯性导航模块进行标定。