一种基于MIMU的九陀螺冗余配置

为进一步提高微惯性传感器及测量组合的可靠性和精度,提出了一种新型的基于MIMU的9陀螺斜置冗余设计方案,该系统体现出较好的容错性能.对不超过3个微陀螺发生失效的情况进行故障检测,故障识别率达到91%.分别与无冗余配置、4轴冗余配置、9陀螺正交冗余配置进行了对比分析,结果表明,本配置精度略小于同等元件数量的正交配置,但却具有更好的容错性能,是一种既具有较高精度又具有较高可靠性的配置方式.

Redundancy configuration of 9-gyro based on MIMU

In order to further increase the reliability and precision of micro-inertial measure combination,this paper presents a new design for MIMU-based 9-gyro oblique redundancy. This system has better fault tolerance performance. Using the parity check equation,the failure detection and recognition were completed in the circumstance that no more than 3 micro gyros failed,and the failure recognition rate was 91%. And then it was compared respectively with those circumstances of non-redundancy configuration,4-shaft redundancy configuration,and 9-gyro orthogonal redundancy configuration in respects of precision and reliability. Results show that the precision of the proposed configuration is a little lower than that of orthogonal configuration with the same number of elements,but it has better performance of redundancy. So it is a kind of new configuration with higher reliability and higher precision.