Failure Detection and Isolation for Double Inertial Measurement Systems Based on Rate Biased RLG

The failure of the gyro output axis of the triad rate biased RLG can抰 be detected by traditional parity equations of one inertial measurement system(IMU) because it can抰 be configured redundantly. In order to detect the failure of gyro output axis of triad rate biased RLG, an IMU composed of dynamic tuned gyroscopes are configured as a redundancy system. The output equations of double IMUs are proposed, and on the basis of these equations parity equations of t double IMUs are derived. The method based on parity equations of double IMUs is proposed, which is used to detect and isolate the failure of the gyro output axis of double IMUs, including the gyro output axis of the triad rate biased RLG. A new method to detect and isolate the gyro output axis failure is proposed, which can抰 be isolated by parity equations of double IMUs. It is showed that this method can search the gyro output axis if at least one of two IMUs is not failure.