METHOD FOR DETECTING MALFUNCTIONS IN INERTIAL MEASUREMENT UNITS

A method for detecting malfunctions in inertial measurement units which are used in a vehicle to measure angular velocities and specific forces may have at least three inertial measurement units. Each inertial measurement unit may have a plurality of sensors, such as accelerometer and gyroscopic sen...

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Bibliographische Detailangaben
Hauptverfasser:	AJANOVIC, Mustafa, KALKKUHL, Jens, DIGESER, Philipp Alfons
Format:	Patent
Sprache:	eng
Schlagworte:	GYROSCOPIC INSTRUMENTS MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS SURVEYING TESTING
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Beschreibung
Zusammenfassung:	A method for detecting malfunctions in inertial measurement units which are used in a vehicle to measure angular velocities and specific forces may have at least three inertial measurement units. Each inertial measurement unit may have a plurality of sensors, such as accelerometer and gyroscopic sensors. A first inertial measurement unit is used as a master inertial measurement unit. A second inertial measurement unit and a third inertial measurement unit, the capabilities of which can be lower than those of the first inertial measurement unit, are used as slave inertial measurement units. Measurements of the master inertial measurement unit are used as reference values to compensate measurements of the slave inertial measurement unit regarding estimation of error model parameters with respect to the master inertial measurement unit to detect a malfunction in one of the three sensor signals.