This research presents methods for detecting and isolating faults in multiple micro-electro-mechanical system inertial measurement unit (MEMS-IMU) configurations. First, geometric configurations with n sensor triads are investigated. It is proved that the relative orientation between sensor triads is irrelevant to system optimality in the absence of failures. Then, the impact of sensor failure or decreased performance is investigated. Three fault detection and isolation (FDI) approaches (i.e., the parity space method, Mahalanobis distance method and its direct robustification) are reviewed theoretically and in the context of experiments using reference signals. It is shown that in the presence of multiple outliers the best performing detection algorithm is the robust version of the Mahalanobis distance.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Fault Detection and Isolation in Multiple MEMS-IMUs Configurations


    Contributors:


    Publication date :

    2012-07-01


    Size :

    3810227 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    IMU FAULT MONITORING METHOD AND APPARATUS FOR MULTIPLE IMUS/GNSS INTEGRATED NAVIGATION SYSTEM

    LEE JIYUN / LEE JINSIL / KIM DONGWOO et al. | European Patent Office | 2021

    Free access

    Model-Based Fusion of GNSS and Multiple-IMUs

    Sharma, Aman / Gilgien, Simon / Skaloud, Jan | IEEE | 2024



    Vibration-based health characterization of multiple IMUs in UAV applications

    Molly O'Connor / Hanna Millares / Portia Banerjee et al. | NTRS | 2020


    Performance Comparison Analysis of FOGS and MEMS IMUs Under An Enhanced GPS/Reduced INS Land Vehicles Navigation System

    Karamat, Tashfeen B. / Atia, Mohamed M. / Noureldin, Aboelmagd et al. | Tema Archive | 2014