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Vol. 207, Issue 12, December 2016, pp. 15-20




Study of Virtual Body Frames in Dodecahedron-Based Skew Redundant Inertial Measurement Units


Ideal Aerosmith Inc., 2205 W Lone Cactus Dr., Ste. 7, Phoenix, AZ, 85027, USA
Tel.: +1.623.847.8933, fax: +1.623.587.5863

E-mail: mgheorghe@idealaero.com


Received: 5 November 2016 /Accepted: 5 December 2016 /Published: 30 December 2016

Digital Sensors and Sensor Sysstems


Abstract: Dodecahedron-based skew redundant inertial measurement units are one of the favored configurations employed in high-reliability inertial navigation applications. In its classical configuration, where the XYZ body axes bisect the angles between pairs of sensors, the dodecahedron-based skew redundant inertial measurement unit poses disadvantages from a packaging perspective. At least two United States patents that provide mechanical packaging solutions to this problem exist, however both solutions suffer from some drawbacks. Alternate body frames that favor a more compact mechanical packaging are possible, however they may negatively impact the mathematical model and computation of the parity vectors. This paper aims to offer an original solution, based on a virtual body frame that allows both an efficient mechanical packaging and ease of computation for the parity vectors. Furthermore, the properties of the proposed virtual body frame are studied and compared to those of the real body frame with the end goal of assessing the performance of the skew redundant inertial measurement unit in its final configuration.


Keywords: Virtual body frame, Skew redundant, IMU, SRIMU.


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