TANNERSVILLE — An armed woman shot and killed during a standoff in eastern Pennsylvania following a vehicle pursuit last week had a history of mental illness and believed police were trying to kidnap, sexually assault and murder her, authorities allege in court documents.

Betty Jane Tibaldi, 54, fled from Pocono Towns5hip police with her husband after encountering officers in Bartonsville late Tuesday night, state police said. An hours-long standoff on Route 611 ensued until police allege that she aimed a handgun at troopers and fired once before being struck and killed by return fire early Wednesday.

Tibaldi’s husband, Nello, told investigators that his wife believed police “routinely kidnap, rape and murder people.” Another relative said she had schizophrenia, had previously been taken out of a New York hotel by a SWAT team during a mental health crisis, and refused to take medication, according to police.

A negotiator said she was “rambling with paranoid delusions and religious ideas relative to the devil and the portals of hell.”