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

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

 and *
Received: 5 August 2009; in revised form: 25 September 2009 / Accepted: 15 October 2009 / Published: 27 October 2009
(This article belongs to the Special Issue Sensor Configuration and Smart Sensors)
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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
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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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.

AMA 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(11):8456-8472.

Chicago/Turabian Style

Yang, Cheol-Kwan; Shim, Duk-Sun. 2009. "Best Sensor Configuration and Accommodation Rule Based on Navigation Performance for INS with Seven Inertial Sensors." Sensors 9, no. 11: 8456-8472.


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