A fault detection method applied to a redundant strapdown inertial navigation system, which usually undergoes rapid maneuvers, is developed in this paper. First, an improved four-points detection scheme that can significantly reduce the probability of false alarm of the generalized likelihood test(GLT) is present. Then, based on analyzing influences on the fault detection performance caused by the misalignment and scale fator errors and the random bias of a gyroscope, a parity vector error model is constructed and sequently the Kalman filtering scheme to compensate the parity vector error is designed. By example of a redundant measurement unit with four single-freedom-degree gyros, the fault detection method has been analyzed qualitatively and quantitatively through simulation tests. Simulation results demonstrate the favorable performance of the method.
Rapid progress in Micro-Electromechanical System (MEMS) technique is making inertial sensors increasingly miniaturized, enabling it to be widely applied in people’s everyday life. Recent years, research and development of wireless input device based on MEMS inertial measurement unit (IMU) is receiving more and more attention. In this paper, a survey is made of the recent research on inertial pens based on MEMS-IMU. First, the advantage of IMU-based input is discussed, with comparison with other types of input systems. Then, based on the operation of an inertial pen, which can be roughly divided into four stages: motion sensing, error containment, feature extraction and recognition, various approaches employed to address the challenges facing each stage are introduced. Finally, while discussing the future prospect of the IMU-based input systems, it is suggested that the methods of autonomous and portable calibration of inertial sensor errors be further explored. The low-cost feature of an inertial pen makes it desirable that its calibration be carried out independently, rapidly, and portably. Meanwhile, some unique features of the operational environment of an inertial pen make it possible to simplify its error propagation model and expedite its calibration, making the technique more practically viable.
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