微小型MEMS惯性导航系统的六陀螺余度配置实现

Study on Realization of Redundancy Collocation Based on MEMS-IMU

为了有效提高捷联惯性导航系统的可靠性，本文对微小型MEMS-IMU系统的余度配置实现进行了研究。针对典型的非正交配置方案（六传感器正十二面体），进行了工程实现。并将余度系统和小型导航计算机相连，搭建成完整的微小型余度捷联惯性导航系统。研究了系统的故障检测、隔离以及系统的重构技术，并将直接比较测量法和最小二乘加权法分别作为故障检测和系统重构工程实现方案，实现了余度系统中LMU数据的采集、故障检测、识别、隔离、系统重构、解算导航参数等一系列功能。试验表明，实现了微型化的余度惯性导航系统，为进一步的研制与开发打下了坚实的基础。

To improve the reliability of strap-down inertial system, the realization in engineering of redundancy collocation based on MEMS-IMU system is studied in this paper. For the non-orthogonal inertial sensor configurations （the collocations of six gyros with single degree of freedom）, it is realized in engineering. Besides, the redundant system is connected with micro navigation computer to construct the redundant strap-down inertial systern, Fault detection, identification and isolation, as well as the system reconfiguration is studied in this paper. The algorithm of direct comparative measurement method and the weighted least square method, adopted as the fault-detect design and the system-reconstruct design, are realized in engineering. A series of functions, including the collection of IMU data, fault detection, identification, isolation, system reconfiguration and the calculation of navigation parameter are realized. The testing proves that the system realizes the micro redundant inertial navigation system, while laid a solid foundation for further study and development.