Two SelfTest Methods Applied to an Inertial System Problem
Abstract
The paper describes two selftest procedures applied to the problem of estimating the biases in accelerometers and gyroscopes on an inertial platform. The first technique is the weighted sumsquared residual (WSSR) test, with which accelerator bias jumps are easily isolated, but gyro bias jumps are difficult to isolate. The WSSR method does not take full advantage of the knowledge of system dynamics. The other technique is a multiple hypothesis method developed by Buxbaum and Haddad (1969). It has the advantage of directly providing jump isolation information, but suffers from computational problems. It might be possible to use the WSSR to detect state jumps and then switch to the BH system for jump isolation and estimate compensation.
 Publication:

Journal of Spacecraft and Rockets
 Pub Date:
 July 1975
 DOI:
 10.2514/3.27844
 Bibcode:
 1975JSpRo..12..434W
 Keywords:

 Accelerometers;
 Gyroscopes;
 Inertial Platforms;
 Instrument Errors;
 Kalman Filters;
 Self Tests;
 Statistical Tests;
 Alignment;
 Bias;
 Calibrating;
 Error Analysis;
 Matrices (Mathematics);
 Random Variables;
 Tables (Data);
 Instrumentation and Photography