A Redundant Strapdown Inertial Reference Unit (SIRU)

Gilmore, Jerold P.; Mckern, R. A.

doi:10.2514/3.61628

Cited by 57 publications

(23 citation statements)

References 2 publications

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“…Using the above definifio5ns, it is-relatively simple to relate the unobservability subspaces of the systems in (11) and (8). The following fundamental result, which exactly accomplishes this task, is crucial to the solvability condition of FPRG.…”

Section: (T) From R(t)mentioning

confidence: 98%

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Failure Detection and Identification in Linear Time-Invariant Systems,

Massoumnia¹,

Verghese²,

Willsky³

1986

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A solution to the problem of detecting and identifying control system component failures in linear time-invariant systems is given using the geometric concept of an unobservability subspace. Conditions are developed under which it is possible to design a causal linear processor that can be used to detect and uniquely identify a component failure in a linear time-invariant system, assuming either i) the components can fail simultaneously, or ii) the components can fail only one at a time. Explicit design algorithms are provided when those conditions are satisfied. In addition to the time domain solvability conditions, the frequency domain interpretation of the results are given, and connection is drawn with the results already available in the literature.

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Section: (T) From R(t)mentioning

confidence: 98%

“…The process of generating the residuals from relationships among instantaneous outputs of sensors is usually called direct redundancy. Two examples where direct redundancy was exploited are [7,8].…”

Section: The Integral Part Of An Ftcs Is Failure Detection and Identimentioning

confidence: 99%

Failure Detection and Identification in Linear Time-Invariant Systems,

Massoumnia¹,

Verghese²,

Willsky³

1986

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“…In addition, various performance indexes, that is, figures of merit (FOM) and test methods have been proposed in order to check the optimality of the configurations. For the FDI performances, the squared-error analysis [1], likelihood tests [10], [11], minimax analysis [12], mean-value test [13], parity test based FDI performance analysis [14], [15], wavelet transform based method [16], and many other algorithms [17]- [20] were proposed.…”

Section: A Backgroundmentioning

confidence: 99%

Optimal Configuration of Redundant Inertial Sensors Considering Lever Arm Effect

Song

Park

2016

IEEE Sensors J.

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An optimal configuration for a redundant inertial measurement unit (RIMU) minimizing the lever arm effect and the constraints for the optimality are proposed. The proposed configuration provides the allocation of each sensor in an RIMU as well as the orientation, while conventional configurations, which do not consider the lever arm effect, suggest the orientation only. The orientation is fixed, so that the configuration may guarantee the best navigation performance, and the allocation of each sensor is determined for minimizing the lever arm effect and for the densest disposition of the structures. To qualify the navigation performance of a configuration, a novel figure of merit (FOM) indicating the worst navigation performance of an RIMU is proposed first. In general, an FOM, which indicates the averaged error covariance of all the estimation, is used as a navigation performance index. The proposed FOM, however, represents the worst error covariance, which contributes to the determination of a secure configuration against excessive noises. The optimal condition of the proposed FOM is also derived, in which case the proposed configuration guarantees the best navigation performance. Using the proposed FOM, the constraint for obtaining the optimal configuration, which guarantees the best navigation performance and minimizes the lever arm effect, is proposed. The effectiveness of the proposed method is confirmed via case studies and Monte Carlo simulations, which show that the RIMU with the proposed configuration sustains sufficiently high position accuracy in spite of the lever arm effect.Index Terms-Redundant sensors, figure of merit, navigation performance, lever arm effect, optimal configuration, allocation and orientation.

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“…For the case of no failures, Q is the identity matrix and B =2AT (3)(4)(5)(6)(7)(8)(9)(10)(11)(12)(13)(14)(15)(16)(17)(18) One can see by direct calculation that…”

Section: 2 Derivation Of Equationsmentioning

confidence: 99%

Competitive Evaluation of Failure Detection Algorithms for Strapdown Redundant Inertial Instruments

Wilcox¹

1974

Journal of Spacecraft and Rockets

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A Redundant Strapdown Inertial Reference Unit (SIRU)

Cited by 57 publications

References 2 publications

Failure Detection and Identification in Linear Time-Invariant Systems,

Failure Detection and Identification in Linear Time-Invariant Systems,

Optimal Configuration of Redundant Inertial Sensors Considering Lever Arm Effect

Competitive Evaluation of Failure Detection Algorithms for Strapdown Redundant Inertial Instruments

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