Abstract
This paper considers the optimal sensor configuration for inertial navigation systems which have redundant inertial sensors such as gyroscopes and accelerometers. We suggest a method to determine the optimal sensor configuration which considers both the navigation and FDI performance. Monte Carlo simulations are performed to show the performance of the suggested optimal sensor configuration method.
Highlights
Inertial navigation systems (INS) require at least three accelerometers and three gyroscopes to calculate the navigation information such as the position, velocity and attitude
We focus on hardware redundancy in INS and especially on the optimal configuration and suggest a figure of merit for a sensor configuration considering both the navigation and FDI
This paper considers the optimal sensor configuration for inertial navigation systems which have redundant inertial sensors
Summary
Inertial navigation systems (INS) require at least three accelerometers and three gyroscopes to calculate the navigation information such as the position, velocity and attitude. Harrison et al [14] suggested the use of figures of merit to evaluate the sensor orientations for navigation performance and FDI capability. We focus on hardware redundancy in INS and especially on the optimal configuration and suggest a figure of merit for a sensor configuration considering both the navigation and FDI performance. The proposed figure of merit can be used to compare the alternative sensor configurations and, it is possible to obtain the optimal configuration of the redundant sensors considering both the best navigation and FDI performance.
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