Abstract
The scalar method of fault diagnosis systems of the inertial measurement unit (IMU) is described. All inertial navigation systems consist of such IMU. The scalar calibration method is a base of the scalar method for quality monitoring and diagnostics. In accordance with scalar calibration method algorithms of fault diagnosis systems are developed. As a result of quality monitoring algorithm verification is implemented in the working capacity monitoring of IMU. A failure element determination is based on diagnostics algorithm verification and after that the reason for such failure is cleared. The process of verifications consists of comparison of the calculated estimations of biases, scale factor errors, and misalignments angles of sensors to their data sheet certificate, kept in internal memory of computer. As a result of such comparison the conclusion for working capacity of each IMU sensor can be made and also the failure sensor can be determined.
Highlights
In recent years, the strong requirements for safety of autonomous vehicles caused new demands for reliability of the Inertial Navigation Systems and inertial measurement units as their component parts
This paper has suggested to use scalar calibration method of gyroscopes and accelerometers [12] for fault diagnosis systems of inertial measurement unit (IMU) of Inertial Navigation Systems and functional diagnostics model methods together, but doing without extra number of sensors—with three gyros and three accelerometers only
In this paper we have proposed a new method of fault diagnosis systems IMU of Strapdown Inertial Navigation Systems
Summary
The strong requirements for safety of autonomous vehicles caused new demands for reliability of the Inertial Navigation Systems and inertial measurement units as their component parts. It is a reason for increasing and expanding their testing program and using fault diagnosis systems, which includes the capacity of detecting, isolating, and identifying faults. If the last mentioned methods are used for IMU and based on application of redundant or extra number of sensors, optimal filtration methods are using whole INS and required other information of instruments, working on diverse form inertial technology principles (e.g., information from satellite navigation receiver or Doppler radar). This paper has suggested to use scalar calibration method of gyroscopes and accelerometers [12] for fault diagnosis systems of IMU of Inertial Navigation Systems and functional diagnostics model methods together, but doing without extra number of sensors—with three gyros and three accelerometers only
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