Condition monitoring and information management for skew redundant strapdown inertial measurement unit

摘要

This paper presents a new algorithm for condition monitoring and information management in skew strapdown inertial measurement unit. Information management includes fault detection, isolation and reconfiguration. First, Considering the error coefficients of gyros, a unified model is built for redundancy configuration. Then, The strategy related with the accuracy and reliability is investigated, a structure named dual-triad configuration is proposed based on the strategy. One approach called Intersection fusion model is proposed which can reconfigure quickly with index. Unscented Kalman filter is used to monitor the error coefficients of gyros online. The simulation with configuration of 6 gyros verifies that proposed approaches have a strong adaptability and high precision.