The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지
DOI QR코드

DOI QR Code

Optimal In-Plane Configuration of 3-axis MEMS IMUs Considering Fault Detection and Isolation Performance and Lever Arm Effect

레버암 효과와 고장 감지 및 배제 성능을 고려한 여분의 3축 MEMS IMU의 평면 배치 기법

  • Kim, Eung Ju (Dept. of software convergence, Sejong University) ;
  • Kim, Yong Hun (Dept. of software convergence, Sejong University) ;
  • Choi, Min Jun (Dept. of software convergence, Sejong University) ;
  • Song, Jin Woo (School of Intelligent Mechatronic Engineering, Sejong University)
  • Received : 2018.08.21
  • Accepted : 2018.11.22
  • Published : 2018.12.01
Download PDF
⟨ Previous Next ⟩

Abstract

The configuration of redundant inertial sensors are very important when considering navigation performance and fault detection and isolation (FDI) performance. By constructing a redundant sensor system using multiple inertial sensors, it is possible to improve the navigation performance and fault detection and isolation performance, which are highly related to the sensor configuration and allocation. In order to deploy multiple MEMS inertial measurement units effectively, a configuration and allocation methods considering navigation performance, fault detection and isolation performance, and lever arm effect in one plane are presented, and the performance is analyzed through simulation in this research. From the results, it is confirmed that the proposed configuration and allocation method can improve navigation, FDI, and lever arm effect rejection performances more effectively by more than 70%.

Keywords

References

  1. E. T. Benser, "Trends in inertial sensors and applications", in Inertial Sensors and Systems (ISISS), 2015 IEEE International Symposium on, pp. 1-4, 2015.
  2. H. Ahmed and M. Tahir, "Accurate attitude estimation of a moving land vehicle using low-cost MEMS IMU sensors", IEEE Transactions on Intelligent Transportation Systems, vol. 18, no. 7, pp. 1723-1739, 2017. https://doi.org/10.1109/TITS.2016.2627536
  3. M. R. Boukhari, A. Chaibet, M. Boukhnifer, and S. Glaser, "Sensor fault tolerant control strategy for autonomous vehicle driving", in Systems, Signals & Devices (SSD), 2016 13th International Multi-Conference on, pp. 241-248, 2016.
  4. S. Kim, L. Negash, and H. Choi, "A Study of Sensor Fault Detection and Fault Information Management Method for Unmanned Vehicles", The Korean Society for Aeronautical & Space Sciences, pp. 459-462, 2015.
  5. M. Jafari and J. Roshanian, "Optimal redundant sensor configuration for accuracy and reliability increasing in space inertial navigation systems", The Journal of Navigation, vol. 66, no. 2, pp. 199-208, 2013. https://doi.org/10.1017/S0373463312000434
  6. J. W. Song and C. G. Park, "Optimal configuration of redundant inertial sensors considering lever arm effect", IEEE Sensors Journal, vol. 16, no. 9, pp. 3171-3180, 2016. https://doi.org/10.1109/JSEN.2015.2510545
  7. H. J. Kim, J. W. Song, C. W. Kang, and C. G. Park, "FDI performance Analysis of Inertial Sensors on Multiple Conic Configuration", Journal of the Korean Society for Aeronautical & Space Sciences, vol. 43, no. 11, pp. 943-951, 2015. https://doi.org/10.5139/JKSAS.2015.43.11.943
  8. H. Kim, J. Song, and C. Park, "Analytic optimal solution of multiple gyros configuration based on FDI/GNC performance", Electronics Letters, vol. 52, no. 19, pp. 1633-1635, 2016. https://doi.org/10.1049/el.2016.1951
  9. I. Skog, J.-O. Nilsson, P. Handel, and A. Nehorai, "Inertial Sensor Arrays, Maximum Likelihood, and Cramer-Rao Bound", IEEE Transactions on Signal Processing, vol. 64, no. 16, pp. 4218-4227, 2016. https://doi.org/10.1109/TSP.2016.2560136
  10. J. Cheng, J. Dong, R. Landry Jr, and D. Chen, "A novel optimal configuration form redundant MEMS inertial sensors based on the orthogonal rotation method", Sensors, vol. 14, no. 8, pp. 13661-13678, 2014. https://doi.org/10.3390/s140813661
  11. R. Rasoulzadeh and A. M. Shahri, "Implementation of A low-cost multi-IMU hardware by using a homogenous multi-sensor fusion", in Control, Instrumentation, and Automation (ICCIA), 2016 4th International Conference on, pp. 451-456, 2016.
  12. F. fen Wang, T. Zhang, and W. X. Fu, "An Improved Principal Component Analysis Algorithm on FDI of Redundant Inertial Measurement Unit", in 2018 37th Chinese Control Conference (CCC), pp. 6082-6086, 2018.
  13. K. C. Daly, E. Gai, and J. V. Harrison, "Generalized likelihood test for FDI in redundant sensor configurations", Journal of Guidance, Control, and Dynamics, vol. 2, no. 1, pp. 9-17, 1979. https://doi.org/10.2514/3.55825
  14. H. Jin and H. Y. Zhang, "Optimal parity vector sensitive to designated sensor fault", IEEE Transactions on Aerospace and Electronic Systems, vol. 35, no. 4, pp. 1122-1128, 1999. https://doi.org/10.1109/7.805431
  15. S. Guerrier, A. Waegli, J. Skaloud, and M.-P. Victoria-Feser, "Fault detection and isolation in multiple MEMS-IMUs configurations", IEEE Transactions on Aerospace and Electronic Systems, vol. 48, no. 3, pp. 2015-2031, 2012. https://doi.org/10.1109/TAES.2012.6237576
  16. J. P. Gilmore and R. A. McKern, "A redundant strapdown inertial reference unit (SIRU)", Journal of Spacecraft and Rockets, vol. 9, no. 1, pp. 39-47, 1972. https://doi.org/10.2514/3.61628
  17. D. Yan and H. Zhang, "Optimal design of robust analytical redundancy for a redundant strapdown inertial navigation system", Control Engineering Practice, vol. 4, no. 12, pp. 1747-1752, 1996. https://doi.org/10.1016/S0967-0661(96)00193-1
  18. L. Fu, X. Yang, and L. Wang, "A novel optimal redundant inertial sensor configuration in strapdown inertial navigation system", in Position Location and Navigation Symposium (PLANS), 2012 IEEE/ION, pp. 240-246, 2012.
  19. J. Cheng, J. Dong, R. Landry Jr, and D. Chen, "A novel optimal configuration form redundant MEMS inertial sensors based on the orthogonal rotation method", Sensors, vol. 14, no. 8, pp. 13661-13678, 2014. https://doi.org/10.3390/s140813661