Optimum Redundant Configurations of Inertial Sensors

Abstract

Within the present state of the art inertial instruments can achieve high reliability for long periods of time only by redundancy. By suitable geometric configurations it is possible to extract the maximum amount of reliability and accuracy from a given number of redundant single-degree-of- freedom gyros or accelerometers. The report gives a general derivation of the optimum matrix which can be applied to the outputs of any combination of 3 or more instruments to obtain 3 orthogonal vector components based on their geometric configuration and error characteristics. The result is a special case of Kalman filtering theory. Certain combinations of 4 or more instruments have the capability of detecting an instrument malfunction, those of 5 or more have the additional capability of isolating that malfunction to a particular instrument.

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Document Details

Document Type
Technical Report
Publication Date
Sep 20, 1966
Accession Number
AD0759561

Entities

People

  • James T. Ephgrave

Organizations

  • The Aerospace Corporation

Tags

Communities of Interest

  • Sensors
  • Weapons Technologies

DTIC Thesaurus Topics

  • Accelerometers
  • Accuracy
  • Adaptive Systems
  • California
  • Corporations
  • Filtration
  • Guidance
  • High Reliability
  • Kalman Filtering
  • Navigation
  • Platforms
  • Redundancy
  • Reliability
  • Rotation
  • Space Systems
  • Spacecraft
  • Star Trackers

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Inertial Navigation Systems.