Gyro Drift Detection and Isolation for a Two-IMU Configuration

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Abstract
A technique to identify and isolate gyro drift within a two-IMU configuration is presented. The unique gyro drift modulation of the Delco Electronics Carousel V is utilized. The Carousel V system differs from conventional gimballed systems in that four of the inertial instruments (x and y accelerometers and gyros) are mounted on a rotating (1 rpm) instrument cluster. Excessive drift of any gyro results in a distinct combination of sinusoid, ramp, and bias functions appearing in components of a platform-to-platform relative rotation vector. Isolation of any particular drifting gyro within two identical Carousel V platforms is assured by an approximately orthogonal alignment of the cluster rotational axes. Gyro drift isolation between two platforms requires neither a hardware difference in platforms nor the application of redundant sensors within any individual platform.