제어로봇시스템학회:학술대회논문집
- 2001.10a
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- Pages.116.5-116
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- 2001
Optimal IMU Configurations for a SDINS
- Kim, Kwang-Hoon (Seoul National University) ;
- Lee, Jang-Gyu (Seoul National University) ;
- Shim, Duk-Sun (Chung-Ang Univ.) ;
- Park, Chan-Gook (Kwangwoon Univ.)
- Published : 2001.10.01
Abstract
When inertial navigation system(INS) employ more sensors that mutually orthogonal sets to three, the redundant sensor system can have improved reliability and accuracy. For the redundant system the placement of redundant sensors is related to the system performance and also the number and proper orientation of sensors are important. We consider INS sensor configurations using two IMUs comprised mutually orthogonal sets of three. We suggest several configurations using two IMUs and analyze the system performance and the FDI(fault detection and isolation) properties from suggested configurations.
Keywords