Читать книгу Global Navigation Satellite Systems, Inertial Navigation, and Integration - Mohinder S. Grewal - Страница 98

Incipient sensor failures can possibly be predicted by observing over time the rate of change of sensor calibration parameters, depending on experience over the lifetimes of inertial navigators of the same type. One of the advantages of tightly coupled GNSS/INS integration is that INS sensors can be continuously calibrated all the time that GNSS data is available. System health monitoring can then include tests for the trends of sensor calibration parameters, setting threshold conditions for failing the INS system, and isolating a likely set of causes for the observed trends.