ERROR DETECTION FOR INERTIAL MEASUREMENT UNITS

摘要

A system for detecting an error in an inertial measurement unit (IMU) is disclosed. The system may have a first IMU (110) including a first plurality of accelerometers (111, 112, 113) and a first rotational rate measurer (114). The first plurality of accelerometers (111, 112, 113) may be configured to measure acceleration along a plurality of first axes, a first axis of the plurality of first axes being substantially collinear with a collinear axis. The first rotational rate measurer (114) may be configured to measure a first rotational rate about a second axis of the plurality of first axes that is substantially perpendicular to the collinear axis. The system may also have a second IMU (120) and an IMU error detector (330). The IMU error detector (330) may be configured to receive measurement data from the first IMU and the second IMU; and detect an error based on the measurement data.