Inertial navigation systems and inertial sensor failure determination method

摘要

PROBLEM TO BE SOLVED: To provide an inertial navigation system and a fault determining method for an inertial sensor, which can alleviate information processing loads at low cost.;SOLUTION: The system is equipped with a number, n, of inertial sensors 1-1 through 1-n, making up a redundant system; a number, n, of navigation computation circuits 2-1 through 2-n, inputting inertial data which are allocated and output via sensor output allocating lines 7, and executing prescribed navigation computations respectively; a number, n, of navigation computation value comparing circuits 4-1 through 4-n, inputting pairs of navigation computation values which are allocated and output via computation output allocating lines 8, and extracting/outputting mutual differences of the pairs of navigation computation values respectively; a determining circuit 5 receiving a number, n, of mutual differences of the pairs of navigation computation values, determining about normality of sensor axes in n-axis skews and outputting a normality judgement signal designating a normal sensor axis; and a navigation computation output circuit 6 selecting and outputting a navigation computation value obtained from a normal sensor axis, based on the normality determination signal. The navigation computation value comparing circuits 4-1 through 4-n, and the judging circuit 5 are configured as internal components of a normality determining circuit 3.;COPYRIGHT: (C)2006,JPO&NCIPI