{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,1]],"date-time":"2026-03-01T04:12:37Z","timestamp":1772338357892,"version":"3.50.1"},"reference-count":15,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2009,10,27]],"date-time":"2009-10-27T00:00:00Z","timestamp":1256601600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper considers the best sensor configuration and fault accommodation problem for inertial navigation systems which use seven inertial sensors such as gyroscopes and accelerometers. We prove that when six inertial sensors are used, the isolation of a double fault cannot be achieved for some combinations of fault magnitudes, whereas when seven inertial sensors are used, the isolation of any double fault can be achieved. There are many configurations which provide the minimum position errors. This paper proposes four configurations which show the best navigation performance and compares their FDI performances. Considering the FDI performance and the complexity of the accommodation rule, we choose one sensor configuration and provide accommodation rules for double faults. A Monte Carlo simulation is performed to show that the accommodation rules work well.<\/jats:p>","DOI":"10.3390\/s91108456","type":"journal-article","created":{"date-parts":[[2009,10,27]],"date-time":"2009-10-27T11:24:16Z","timestamp":1256642656000},"page":"8456-8472","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":24,"title":["Best Sensor Configuration and Accommodation Rule Based on Navigation Performance for INS with Seven Inertial Sensors"],"prefix":"10.3390","volume":"9","author":[{"given":"Cheol-Kwan","family":"Yang","sequence":"first","affiliation":[{"name":"School of Electrical and Electronics Engineering, Chung-Ang University, 221 HukSuk-dong, Dongjak ku, Seoul, 156-756, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Duk-Sun","family":"Shim","sequence":"additional","affiliation":[{"name":"School of Electrical and Electronics Engineering, Chung-Ang University, 221 HukSuk-dong, Dongjak ku, Seoul, 156-756, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2009,10,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"100","DOI":"10.1109\/19.836318","article-title":"Instrument Fault Detection and Isolation: State of the Art and New Research Trends","volume":"49","author":"Betta","year":"2000","journal-title":"IEEE Trans. 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Issues of Fault Diagnosis for Dynamics System, Springer Verlag.","DOI":"10.1007\/978-1-4471-3644-6"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"39","DOI":"10.2514\/3.61628","article-title":"A Redundant Strapdown Inertial Reference Unite (SIRU)","volume":"9","author":"Gilmore","year":"1972","journal-title":"J. Spacecraft"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"525","DOI":"10.2514\/3.62117","article-title":"Competitive Evaluation of Failure Detection Algorithms for Strapdown Redundant Inertial Instruments","volume":"11","author":"Wilcox","year":"1974","journal-title":"J. Spacecraft"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"9","DOI":"10.2514\/3.55825","article-title":"Generalized Likelihood Test for FDI in Redundant Sensor Configurations","volume":"2","author":"Daly","year":"1979","journal-title":"J. Guid. Control"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"1122","DOI":"10.1109\/7.805431","article-title":"Optimal Parity Vector Sensitive to Designated Sensor Fault","volume":"35","author":"Jin","year":"1999","journal-title":"IEEE Trans. Aerosp. Elect. Syst."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"437","DOI":"10.3166\/ejc.12.437-449","article-title":"FDI using Multiple Parity Vectors for Redundant Inertial Sensors","volume":"12","author":"Yang","year":"2006","journal-title":"Eur. J. Contr."},{"key":"ref_11","first-page":"155","article-title":"Double Faults Isolation based on the Reduced-Order Parity Vectors in Redundant Sensor Configuration","volume":"5","author":"Yang","year":"2007","journal-title":"Int. J. Contr. Autom. Syst."},{"key":"ref_12","first-page":"329","article-title":"Accommodation Rule Based on Navigation Accuracy for Double Faults in Redundant Inertial Sensor Systems","volume":"5","author":"Yang","year":"2007","journal-title":"Int. J. Contr. Autom. Syst."},{"key":"ref_13","unstructured":"Yang, C.-K., and Shim, D.-S. (, January July). Accommodation Rule of Double Faults for Seven Inertial Sensors. Seoul, Korea."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"631","DOI":"10.1109\/TAES.1977.308504","article-title":"Evaluating Sensor Orientations for Navigation Performance and Failure Detection","volume":"13","author":"Harrison","year":"1977","journal-title":"IEEE Trans. Aerosp. Elect. Syst."},{"key":"ref_15","unstructured":"Shim, D.-S., and Yang, C.-K. (, January July). Geometric FDI based on SVD for Redundant Inertial Sensor Systems. Melbourne, Australia."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/9\/11\/8456\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T22:11:27Z","timestamp":1760220687000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/9\/11\/8456"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,10,27]]},"references-count":15,"journal-issue":{"issue":"11","published-online":{"date-parts":[[2009,11]]}},"alternative-id":["s91108456"],"URL":"https:\/\/doi.org\/10.3390\/s91108456","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,10,27]]}}}