Optimum Redundant Configurations of Inertial Sensors
Technical operating rept
AEROSPACE CORP EL SEGUNDO CA EL SEGUNDO TECHNICAL OPERATIONS
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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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