An Anomaly Diagnosis Method for Redundant Inertial Measurement Unit and Its Application with Micro-Electro-Mechanical System Sensors

Abstract

The application of the micro-electro-mechanical system inertial measurement unit has become a new research hotspot in the field of inertial navigation. In order to solve the problems of the poor accuracy and stability of micro-electro-mechanical system sensors, redundant design is an effective method under the restriction of current technology. Redundant data processing is the most important part in the micro-electro-mechanical system redundant inertial navigation system, which includes the processing of anomaly data and the fusion estimation of redundant data. To further improve the reliability of the micro-electro-mechanical system redundant inertial measurement unit, an anomaly detection, isolation, and recognition method for data anomalies is proposed. The relationship between the parity space method detection function and the deterioration degree of anomaly data is mathematically deduced. The parity space method detection functions of different anomalies are analyzed, and five indicators are designed to quantitatively analyze the detection function values. According to these indicators, the detection and recognition method are proposed. The new method is tested by a series of simulation experiments.