Competitive evaluation of failure detection algorithms for strapdown redundant inertial instruments.

Abstract

Seven algorithms for failure detection, isolation, and correction of strapdown inertial instruments in the dodecahedron configuration are competitively evaluated by means of a digital computer simulation that provides them with identical inputs. Their performance is compared in terms of orientation errors and computer burden. The analytical foundations of the algorithms are presented. The features that are found to contribute to superior performance are use of a definite logical structure, elimination of interaction between failures, different thresholds for first and second failures, use of the 'parity' test signals, and avoidance of iteration loops.