Redundant MEMS-Based Inertial Navigation Using Nonlinear Observers

We present two alternative methods for fault detection and isolation (FDI) with redundant MEMS inertial measurement units (IMUs) in inertial navigation systems (INS) based on nonlinear observers. The first alternative is based on the parity space method, while the second is expanded with quaternion-based averaging and FDI. Both alternatives are implemented and validated using data gathered in a full-scale experiment on an offshore vessel. Data from three identical MEMS IMUs and the vessel’s own industrial sensors is used to verify the methods’ FDI capabilities. The results reveal that when it comes to FDI of the IMUs’ angular rate sensors, there are differences between the two methods. The navigation algorithm based on quaternion weighting is essentially unaffected by the failure of an angular rate sensor, while the parity-space-method-based alternative experiences a perturbation. Nomenclature {b} BODY coordinate frame {t} Earth fixed tangent frame {e} Earth Centered Earth Fixed (ECEF) coordinate frame {i} Earth Centered Inertial (ECI) coordinate frame Rb Rotation matrix from frame {b} to frame {t} qb Unit quaternion representation of rotation from {b} to {t} ωib Angular velocity of {b} relative {i}, decomposed in {b} f ib Specific force of {b} decomposed in {t} ptb Position of {b} relative {t} decomposed in {t} vtb Velocity of {b} relative {t} decomposed in {t} φ,θ,ψ Euler angles: Roll, pitch, yaw μ Latitude λ Longitude S(·) Skew symmetric matrix such that S(z1)z2 = z1× z2 ‖ · ‖2 Euclidean vector norm In n×n identity matrix ⊗ Hamiltonian quaternion product TMO Translational motion observer NLO Nonlinear observer FDI Fault detection and isolation MEMS Microelectromechanical system IMU Inertial measurement unit INS Inertial navigation system

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