Abstract
The fault detection and isolation (FDI) accuracy directly affects the redundant inertial measurement unit (RIMU) working state. The previous methods are difficult to apply to the four-axis system because they do not have enough information to allow fault isolation. Therefore, in this paper, an extended RIMU system is proposed to implement fault location in a four-axis system. The extended system consists of three additional accelerometers and a four-axis RIMU. The specific force information in the gyro-free strapdown inertial navigation system (GFSINS) is used to obtain reference angular velocity information. Then, based on the extended system, a fault detection procedure is designed to achieve faulty gyro isolation and system reconfiguration. Simulation results show that the extended system can effectively isolate gyroscope failures in a four-axis RIMU system. Compared to the non-redundant three-axis system, the extended system is 1.75 times more reliable and has 37% better average navigation accuracy.
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