The non-orthogonal inertial sensor configurations （the collocations of six gyros with single degree of freedom） is realized in engineering.The redundant sensors system is connected with micro navigation computer to construct the redundant strap down inertial system.Fault detection

identification

isolation and the system reconfiguration are studied.The algorithm of direct comparative measurement method and the weighted least square method

adopted as the fault detection and the system-reconstruct design

are realized.A series of functions

including the collection of IMU data

fault detection

identification

isolation

system reconfiguration and the calculation of navigation parameter are realized.