Sensor redundancy for inertial navigation
Publish date: 2003-01-01
Report number: FOI-R--1085--SE
Pages: 31
Written in: English
Abstract
This report describes mathematical and mechanical basics of utilizing redundant sensors to increase accuracy, monitoring and fault detection and tolerance in single inertial navigation systems, as well as groups of such systems. One example of the latter is the case where several weapons have high quality navigation systems. The information from these may be used to increase the accuracy and robustness of all the navigation system, both in weapons and the vehicle carrying these weapons, such as a submarine carrying many torpedoes. For development, testing and verification of relevant methods, an inertial measurement unit has been designed and manufactured. The gyros and accelerometers are placed normal to the surface of a truncated regular tetrahedron. Thus, the information from the sensors about the system´s motion is equal in all directions, and also better than if the same sensors had been placed in a traditional orthogonal configuration.