| Title |
Optimal In-Plane Configuration of 3-axis MEMS IMUs Considering Fault Detection and Isolation Performance and Lever Arm Effect |
| Authors |
김응주(Eung Ju Kim) ; 김용훈(Yong Hun Kim) ; 최민준(Min Jun Choi) ; 송진우(Jin Woo Song) |
| DOI |
http://doi.org/10.5370/KIEE.2018.67.12.1648 |
| Keywords |
Navigation performance ; FDI performance ; Lever arm effect ; Redundant IMU ; Optimal configuration |
| Abstract |
The configuration of redundant inertial sensors are very important when considering navigation performance and fault detection and isolation (FDI) performance. By constructing a redundant sensor system using multiple inertial sensors, it is possible to improve the navigation performance and fault detection and isolation performance, which are highly related to the sensor configuration and allocation. In order to deploy multiple MEMS inertial measurement units effectively, a configuration and allocation methods considering navigation performance, fault detection and isolation performance, and lever arm effect in one plane are presented, and the performance is analyzed through simulation in this research. From the results, it is confirmed that the proposed configuration and allocation method can improve navigation, FDI, and lever arm effect rejection performances more effectively by more than 70%. |