余度技术是提高导航系统性能的一种重要手段，本文对捷联惯性传感器多余度配置技术进行了研究。针对弹道导弹的特点，设计了适用于背景弹道使用的IMU:由3陀螺正交配置的4加速度计斜装配置构成。分析了影响惯性传感器输出的主要因素，建立了惯性传感器的误差模型，研究了斜装对传感器测量的多重影响，尤其是它对非线性误差的较大改善。在此基础上，设计了具有余度配置结构的惯性测量装置(IMU)．针对该IMU，建立了余度配置系统的标定模型。仿真结果表明，采用该IMU的弹道导弹导航性能显著提高，在现有器件精度下有效提高了系统的精度和可靠性。

Redundant technology is a kind of important means to improve the performance of a naviga?tion system. The redundant configuration of inertial sensor in a strapdown inertial navigation system (SINS) was studied. According to the ballistic missile characteristic, inertia measuring unit (IMU) composed of three gyros with orthogonal configuration and four accelerometers with skewed configura?tion was designed for ballistic missile. firstly, it was analyzed on the main factors that influence sensor output, and the error model oi inertial sensor was built. Then, skewed configurationJ s multi-influence on sensor measurement was studied, particularly it can improve the nonlinear error greatly. On the ba?sic of the theory, a redundant configuration IMU and its calibration model were designed. The result of computer simulation shows that the IMU improves the navigation performance, the navigation pre?cision and the reliability with the available sensor precision for ballistic missile.