Design and Implementation of Fault Tolerant Inertial Measurement Unit

2021 8th International Conference on Electrical and Electronics Engineering (ICEEE)（2021）

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摘要

In this paper, we propose a novel design of a redundant inertial measurement unit (IMU) with hardware-based fault detection and fault-tolerant quaternion-based extended Kalman filter (EKF). The IMU consists of cost-effective 9 degrees of freedom (DOF) analog inertial sensors and low cost 9-DOF single-chip digital inertial sensors. The self-test features of analog sensors have been used to examine ...

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关键词

Measurement units,Inertial sensors,Quaternions,Fault detection,Fault tolerant systems,Switches,Sensor phenomena and characterization

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