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U ovom članku analitički je ispitano 11 raznih rezervisanih arhitektura inercijalnog mernog bloka (1MB), sa stanovišta pogodnosti za detekciju senzora koji daju netačne parametre ili su potpuno otkazali. Algoritam ispitivanja baziranje najednačinamaparnosti i teoriji najmanjeg kvadrata greške rezervisanih senzora. Određena je optimalna arhitektura 1MB sa stanovišta pogodnosti za detekciju otkaza senzora. / This paper analytically analyzed 11 redundant architectures of the inertial measurement unit (IMU) from the view-point of detection capability of sensors which give inaccurate parameters or which failed completely. The test algorithm is based on parity equations and the least square error theory of redundant sensors. At the end of the paper an optimum architecture of the inertial measurement unit from the view-point of sensor fault detection capability was proposed

Determining optimum inertial measurement unit architecture from the view-point of sensor fault detection