微小型MEMS惯性导航系统的六陀螺余度配置实现

Realization of redundancy collocation of six gyros in micro MENS inertial navigation system

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IMU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。

The non-orthogonal inertial sensor configurations （the collocations of six gyros with single degree of freedom） is realized in engineering. The redundant sensors system is connected with micro navigation computer to construct the redundant strap down inertial system. Fault detection, identification , isolation and the system reconfiguration are studied. The algorithm of direct comparative measurement method and the weighted least square method,adopted as the fault detection and the system-reconstruct design, are realized. A series of functions, including the collection of IMU data, fault detection, identification, isolation, system reconfiguration and the calculation of navigation parameter are realized.