Inertial measurement system multi-sensor redundancy method

The invention provides an inertial measurement system multi-sensor redundancy method. The method comprises the steps that through multiple measurement values output by multiple sensors, an output result of an inertial measurement system and projection values of the output result on all the sensors are calculated; absolute values of differences between output values of all the sensors and the projection values are calculated according to the output values and ordered; iterative judgment is performed according to the maximum absolute value of the differences and a preset precision deviation threshold value until a correct failed sensor is judged, and the output result of the inertial measurement system is a calculation result of the rest sensors. Compared with an inertial measurement system multi-sensor redundancy method achieved through a parity vector algorithm, the problem that the multi-sensor redundant inertial measurement system independently judges the failed sensor without relying on preorder data or subsequent data is solved, not only can the failed sensor be accurately judged, but also the sensor which is occasionally failed or of which the output precision does not meet the design requirement can be judged, and the reliability and the output precision of the inertial measurement system are improved.