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The International Journal of Robotics Research
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A Low-Cost, Redundant Inertial Measurement Unit for Unmanned Air Vehicles

Salah Sukkarieh

Australian Centre for Field Robotics, Department of Mechanical and Mechatronic Engineering, University of Sydney, NSW 2006, Australiasalah{at}acfr.usyd.edu.au

Peter Gibbens

Ben Grocholsky

Keith Willis

Hugh F. Durrant-Whyte

Australian Centre for Field Robotics, Department of Mechanical and Mechatronic Engineering, University of Sydney, NSW 2006, Australia

This paper discusses the development of a low-cost, redundant, strapdown inertial measurement unit (IMU). The unit comprises four ceramic vibrating structure gyroscopes and four QLC 400 accelerometers configured on a truncated tetrahedron design. This design allows for the optimal configuration of the eight sensors, which in turn provides for a theoretical 33% increase in information. The redundant sensor configuration also allows for fault detection, which is required for many autonomous applications. This initiative is a precursor for future developments with more sensors to provide fault isolation. The paper will also present a navigation system implementing the redundant IMU with the global positioning system. Results are provided of this navigation system being implemented in an unmanned air vehicle.

Key Words: inertial measurement unit • redundancy • global positioning system • information filter • autonomous systems • UAV

The International Journal of Robotics Research, Vol. 19, No. 11, 1089-1103 (2000)
DOI: 10.1177/02783640022067995
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