Fail self-diagnosing technique in closed-loop I-FOG and it s application in redundant strapdown inertial measure unit

Basing on the loop characteristic of closed-loop I-FOG, we propose a novel fail self-diagnosing technique and get a self-diagnosable closed-loop I-FOG. Using this kind of Gyro in redundant Strapdown inertial measure unit (RSDIMU), we design a simple and effective fault detection. isolation and system reconfiguration(FDIR) algorithm and calculate its reliability using Markov reliability evaluation mode. Compared with the old system, the reliability and the fault tolerant capability are all improved greatly.