Optimal weighted least square data fusion method for redundant IMU based on calculation of measurement error

The measurements of redundant IMU are difficult to fuse, and traditional data fusion method can't take each measurement into account. This method is an improving fusion method. A dodecahedron non-orthogonal redundant IMU configuration was selected as model. The correlation between measurement errors and fusion errors was derived and an effective calculation method for measurement errors was proposed. The method considered the differences between projection of fusion vector and measurements, and then made a conversion from projection errors to measurement errors. Measurement errors was calculated and used to generate an optimal weighted matrix in optimal weighted least square method. Result from optimal least square method is an optimal fusion vector whose errors are limited a minimum. Simulations also proved that the fusion result of this method is more accurate than the result of traditional method.