ArticleMicromachines2023
MIMU Optimal Redundant Structure and Signal Fusion Algorithm Based on a Non-Orthogonal MEMS Inertial Sensor Array.
Article in Micromachines, 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
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Who cites it
4 citing papers in PubMed.
- Performance Analysis of Typical Data Fusion Algorithms for Inertial Measurement Arrays.Micromachines · 2026Article
- Wheel-AINS: A Vehicle Autonomous Positioning System Based on a Wheel-Mounted MIMU Array.Micromachines · 2026Article
- Installation Error Calibration Method for Redundant MEMS-IMU MWD.Micromachines · 2025Article
- Redundant Configuration Method of MEMS Sensors for Bottom Hole Assembly Attitude Measurement.Micromachines · 2024Article
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Authors and funding
6 authors.
Funding
Abstract
A micro-inertial measurement unit (MIMU) is usually used to sense the angular rate and acceleration of the flight carrier. In this study, multiple MEMS gyroscopes were used to form a spatial non-orthogonal array to construct a redundant MIMU system, and an optimal Kalman filter (KF) algorithm was established by a steady-state KF gain to combine array signals to improve the MIMU's accuracy. The noise correlation was used to optimize the geometric layout of the non-orthogonal array and reveal the mechanisms of influence of correlation and geometric layout on MIMU's performance improvement. Additionally, two different conical configuration structures of a non-orthogonal array for 4,5,6,8-gyro were designed and analyzed. Finally, a redundant 4-MIMU system was designed to verify the proposed structure and KF algorithm. The results demonstrate that the input signal rate can be accurately estimated and that the gyro's error can also be effectively reduced through fusion of non-orthogonal array. The results for the 4-MIMU system illustrate that the gyro's ARW and RRW noise can be decreased by factors of about 3.5 and 2.5, respectively. In particular, the estimated errors (1σ) on the axes of
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