Abstract
In order to improve the accuracy and reliability of micro-electro mechanical systems (MEMS) navigation systems, an orthogonal rotation method-based nine-gyro redundant MEMS configuration is presented. By analyzing the accuracy and reliability characteristics of an inertial navigation system (INS), criteria for redundant configuration design are introduced. Then the orthogonal rotation configuration is formed through a two-rotation of a set of orthogonal inertial sensors around a space vector. A feasible installation method is given for the real engineering realization of this proposed configuration. The performances of the novel configuration and another six configurations are comprehensively compared and analyzed. Simulation and experimentation are also conducted, and the results show that the orthogonal rotation configuration has the best reliability, accuracy and fault detection and isolation (FDI) performance when the number of gyros is nine.
Highlights
Inertial measurement units (IMUs) composed by mechanical systems (MEMS) inertial sensors exhibit a number of advantages such as strong-autonomy, small-volume, light weight, low-cost and good impact resistance.Due to these excellent characteristics, MEMS IMUs have become a hot topic in the inertial navigationSensors 2014, 14 field in recent years [1,2,3,4]
In order to ensure the precise guidance of spacecraft, higher accuracy and reliability are demanded of IMUs [5]
For the purpose of further enhancing the performance of MEMS IMU, a novel nine-gyro redundant scheme based on orthogonal rotation principle is proposed
Summary
Inertial measurement units (IMUs) composed by MEMS inertial sensors exhibit a number of advantages such as strong-autonomy, small-volume, light weight, low-cost and good impact resistance. Litton [10] designed a regular tetrahedron configuration IMU, in which there were one two-axis gyro and two single-axis accelerometers on each surface of the configuration According to this scheme, we can simplify the measurement equations and improve the interchangeability of sensors. Li et al [13] proposed a nine-gyro-four-axis redundant IMU with nine sensors installed along four axes, in which three axes are orthogonal and one axis is skewed. For the purpose of further enhancing the performance of MEMS IMU, a novel nine-gyro redundant scheme based on orthogonal rotation principle is proposed. This configuration is obtained through a two-rotation from a basic orthogonal configuration.
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