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Sensors 2009, 9(11), 8456-8472; doi:10.3390/s91108456

Best Sensor Configuration and Accommodation Rule Based on Navigation Performance for INS with Seven Inertial Sensors

School of Electrical and Electronics Engineering, Chung-Ang University, 221 HukSuk-dong, Dongjak ku, Seoul, 156-756, Korea
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Received: 5 August 2009 / Revised: 25 September 2009 / Accepted: 15 October 2009 / Published: 27 October 2009
(This article belongs to the Special Issue Sensor Configuration and Smart Sensors)

Abstract

This paper considers the best sensor configuration and fault accommodation problem for inertial navigation systems which use seven inertial sensors such as gyroscopes and accelerometers. We prove that when six inertial sensors are used, the isolation of a double fault cannot be achieved for some combinations of fault magnitudes, whereas when seven inertial sensors are used, the isolation of any double fault can be achieved. There are many configurations which provide the minimum position errors. This paper proposes four configurations which show the best navigation performance and compares their FDI performances. Considering the FDI performance and the complexity of the accommodation rule, we choose one sensor configuration and provide accommodation rules for double faults. A Monte Carlo simulation is performed to show that the accommodation rules work well.
Keywords: fault detection and isolation; fault accommodation; inertial sensors; parity equation; probability of correct isolation fault detection and isolation; fault accommodation; inertial sensors; parity equation; probability of correct isolation
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This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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MDPI and ACS Style

Yang, C.-K.; Shim, D.-S. Best Sensor Configuration and Accommodation Rule Based on Navigation Performance for INS with Seven Inertial Sensors. Sensors 2009, 9, 8456-8472.

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