This paper considers the optimal sensor configuration for inertial navigation systems which have redundant inertial sensors such as gyroscopes and accelerometers. We suggest a method to determine the optimal sensor configuration which considers both the navigation and FDI performance. Monte Carlo simulations are performed to show the performance of the suggested optimal sensor configuration method.
Keywords: FDI performance; fault detection and isolation; icosahedrons; navigation performance; optimal sensor configuration; platonic solid; redundant inertial sensor.