Optimal redundant sensor configuration for accuracy increasing in space inertial navigation system

A redundant inertial measurement unit (IMU) is an inertial sensing device composed by more than three accelerometers and three gyroscopes. This paper analyzes the performance of redundant IMUs and their various sensors configurations. The inertial instruments can achieve high reliability for long pe...

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Bibliographic Details
Published in:Aerospace science and technology 2015-12, Vol.47, p.467-472
Main Author: Jafari, Mehdi
Format: Article
Language:English
Subjects:
Accelerometers
Accuracy increasing
Aircraft components
Derivation
Inertial
Inertial navigation system
Malfunctions
Optimal configuration
Optimization
Redundant
Redundant sensor
Reliability
Sensors
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Summary:A redundant inertial measurement unit (IMU) is an inertial sensing device composed by more than three accelerometers and three gyroscopes. This paper analyzes the performance of redundant IMUs and their various sensors configurations. The inertial instruments can achieve high reliability for long periods of time only by redundancy. By suitable geometric configurations it is possible to extract the maximum amount of reliability and accuracy from a given number of redundant single-degree-of-freedom gyros or accelerometers. This paper gives general derivation of the optimum matrix which can be applied to the outputs of any combination of 3 or more sensors to obtain 3 orthogonal vector components based on their geometric configuration and error characteristics. Certain combinations of 4 or more instruments have the capability of detecting an instrument malfunction, those of 5 additional capabilities of isolating that malfunction to a particular sensor.
ISSN:1270-9638
1626-3219
DOI:10.1016/j.ast.2015.09.017