In the redundant inertial measurement unit (RIMU), the sensors configuration is the essential factor to determine the performance. This paper proposes a novel configuration design method to optimize the precision and reliability of RIMU. The Salp Swarm Algorithm is developed through the distribution strategy and Tent Map, that can avoid the salp swarm trapped in local optimal points and improve the convergence precision. Then, with the diagnosability index and GDOP, the configuration design method is designed through the developed SSA. The experiments prove that configurations designed by the proposed method can satisfy the optimal accuracy constraint and improve the reliability simultaneously, and their performances are equal to the regular dodecahedron configuration.
A Configuration Design Method for the Redundant Inertial Measurement Unit Based on the Distributed Salp Swarm Algorithm
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Kapitel : 112 ; 1127-1136
2022-03-18
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
BASE | 2022
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