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A Fault-Tolerant Data Fusion Method of MEMS Redundant Gyro System Based on Weighted Distributed Kalman Filtering

Department of vehicle and electronics, Army Engineering University of PLA, Shijiazhuang 050000, China
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Micromachines 2019, 10(5), 278; https://doi.org/10.3390/mi10050278
Received: 26 March 2019 / Revised: 22 April 2019 / Accepted: 25 April 2019 / Published: 26 April 2019
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Abstract

The application of the Micro Electro-mechanical System (MEMS) inertial measurement unit has become a new research hotspot in the field of inertial navigation. In order to solve the problems of the poor accuracy and stability of MEMS sensors, the redundant design is an effective method under the restriction of current technology. The redundant data processing is the most important part in the MEMS redundant inertial navigation system, which includes the processing of abnormal data and the fusion estimation of redundant data. A developed quality index of the MEMS gyro measurement data is designed by the parity vector and the covariance matrix of the distributed Kalman filtering. The weight coefficients of gyros are calculated according to this index. The fault-tolerant fusion estimation of the redundant data is realized through the framework of the distributed Kalman filtering. Simulation experiments are conducted to test the performance of the new method with different types of anomalies. View Full-Text
Keywords: multi-sensor; data fusion; distributed Kalman filtering; fault tolerance; parity space multi-sensor; data fusion; distributed Kalman filtering; fault tolerance; parity space
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Du, B.; Shi, Z.; Song, J.; Wang, H.; Han, L. A Fault-Tolerant Data Fusion Method of MEMS Redundant Gyro System Based on Weighted Distributed Kalman Filtering. Micromachines 2019, 10, 278.

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