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Abstract-The scalar method of fault diagnosis systems of the inertial measurement unit (IMU) is described. All inertial navigation systems consist of such IMU. The scalar calibration method is a base of the scalar method for quality monitoring and diagnostics. Algorithms of fault diagnosis systems are developed in accordance with scalar calibration method. Algorithm verification is implemented in result of quality monitoring of IMU. A failure element determination is based in diagnostics algorithm verification and after that the reason of such failure is cleared. The process of verifications consists of comparison of the calculated estimations of biases, scale factor errors and misalignments angles of sensors to their data sheet certificate, which kept in internal memory of navigation computer. In result of such comparison the conclusion for working capacity of each one IMU sensor can be made and also the failure sensor can be determined.

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A new calibration method for Inertial Measurement Unit (IMU) of strapdown inertial technology was presented. IMU has been composed of accelerometers, gyroscopes and a circuit of signal processing. Normally, a rate transfer test and multi-position tests are used for IMU calibration. The new calibration method is based on whole angle rotation or finite rotation. In fact it is suggested to turn over IMU around three axes simultaneously. In order to solve the equation of calibration, it is necessary to provide an equality of a rank of basic matrix into degree of basic matrix. The results of simulated IMU data presented to demonstrate the performance of the new calibration method.

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