Optimal Configuration of Redundant Inertial Sensors for Navigation and FDI Performance 英文参考文献.docVIP

Sensors 2010, 10, 6497-6512; doi:10.3390/s100706497 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Optimal Configuration of Redundant Inertial Sensors for Navigation and FDI Performance Duk-Sun Shim * and Cheol-Kwan Yang School of Electrical and Electronics Engineering, Chung-Ang University, 221 HukSuk-dong, Dongjak ku, Seoul, 156-756, Korea; E-Mail: ckyang92@ * Author to whom correspondence should be addressed; E-Mail: dshim@cau.ac.kr; Tel.: +82-2-826-7449; Fax: +82-2-825-1585. Received: 20 May 2010; in revised form: 10 June 2010 / Accepted: 20 June 2010 / Published: 2 July 2010 Abstract: This paper considers the optimal sensor configuration for inertial navigation systems which have redundant inertial sensors such as gyroscopes and accelerometers. We suggest a method to determine the optimal sensor configuration which considers both the navigation and FDI performance. Monte Carlo simulations are performed to show the performance of the suggested optimal sensor configuration method. Keywords: optimal sensor configuration; redundant inertial sensor; navigation performance; FDI performance; fault detection and isolation; platonic solid; icosahedrons 1. Introduction Inertial navigation systems (INS) require at least three accelerometers and three gyroscopes to calculate the navigation information such as the position, velocity and attitude. However, the use of redundant sensors is preferable to ensure their reliability and enhance their navigation accuracy and, thus, the problem of the proper placement of the redundant inertial sensors has been studied since the 1970s. For over four decades reliability has been a subject of interest in various complex systems, such as industrial process systems and power systems, as well as in safety-critical systems such as nuclear power systems and the control of military and space aircraft. Hardware redundancy has been studied from