FAULT-TOLERANT STRAP-DOWN INERTIAL NAVIGATION SYSTEMS WITH EXTERNAL CORRECTIONS

The problem of detection of the faulty sensor, and compensation of the systematic errors appearing as a result of the sensor failure in the integrated Strap-Down Inertial Navigation System (SINS) and GPS using redundant sensors, is considered. In order to minimize the level of redundancy of sensors, it is assumed that the skew-symmetric location of their sensitivity axes is used. Creation of the fault detection algorithm requires the description of the complete set of the SINS algorithms, as well as the algorithms of the SINS correction via data processing of the GPS, magnetometer, and barometric altimeter signals. These corrections allow compensation of the systematic navigation errors due to the sensor failure without isolation of the faulty sensor. A simple algorithm of the faulty sensor detection based on the least square method is proposed. The numerical example given in this paper proves the eficiency of this algorithm.