Error Calibration and FDI Technology of Gyros in Redundant IMU

摘要

In this paper, we analyzed calibration method and fault detection & isolation method for gyro errors. A six sensors configuration redundant inertial measurement unit (IMU) is used for simulation. The gyro's error characters have been considered, equations to estimate the error coefficients have been formulated and validated using data got from turntable test, the fault detection & isolation (FDI) method also has been used and tested using calibrated data, the result shows that this method is useful and reliable, would be a good way to be used in redundant IMU sensor for FDI.