Fault determination method based on redundancy inertial measurement information

Abstract

The invention relates to a fault determination method based on redundancy inertial measurement information, wherein the redundancy is expressed by N which is not less than 3. The method comprises thefollowing steps of: (1) converting a pulse outputted by the current period of N paths of inertial measuring apparatuses to N paths of physical quantity information Txi, wherein i equals to 1, 2, untilN; (2) subtracting the physical quantity information Txi from Txj, and comparing the obtained difference value with a preset threshold sigma x; if the difference value exceeds the preset threshold sigma x, setting a mark delta theta ij to be 1, or the delta theta ij to be 0, wherein i equals to 1, 2, until N, j equals to 1, 2, until N, and j is not equal to i; (3) adding all the marks delta thetaij associated with the ith path to obtain FTxi, if the FTxi is more than or equal to a preset threshold M and not equal to the minimum value in the FTx1, FTx2, until FTxN, showing that the ith path of the physical quantity information TXi has an error, namely, the ith path of the inertial measuring apparatus has a fault; if not, regarding that the ith path of the inertial measuring apparatus hasno fault, wherein the preset threshold M ranges from 2 to N-1; and (4) waiting for an output pulse of the next period of the N paths of inertial measuring apparatuses, executing from the step (1) circularly.

Description

technical field [0001] The invention can be applied to the field of inertial navigation system, and solves the fault judgment method of how to identify the fault information according to the redundancy measurement information. Background technique [0002] In an inertial navigation system, an inertial instrument is usually used to measure the system's orbital motion (angular velocity) and mass center motion (acceleration), and the measurement results are used for navigation. If the redundancy mechanism is used and there are multiple measurement information for the same physical quantity, then the entire inertial navigation system can be kept working normally when some instruments fail. At this time, it is very important to accurately identify the faulty instruments . [0003] Domestically, the inertial navigation system currently adopting a redundant mechanism mostly adopts the main backup form. In terms of fault diagnosis, the main backup information is compared, or the di...

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Problems solved by technology

[0003] Domestically, the inertial navigation system currently adopting a redundant mechanism mostly adopts the main backup form. In terms of fault diagnosis, the main backup information is compared, or the diagnosis is performed within a single device. If a fault occurs, the entire device is defined as a fault. , It does not specifically distinguish which channel of information is faulty, this fault location method wastes resources

In addition, it is difficult to distinguish the fault form with little difference from the normal output by the method of fault discrimination based on the effective interval of the measurement range to the single-channel measurement information

[0004] There are foreign reports on inertial navigation systems using redundant redundancy mechanisms, but there are no detailed introductions on fault diagnosis.

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