Satellite gyroscope group fault detection, separation and estimation method based on equivalence relation and wavelet transform numerical differentiation

A technology of wavelet transform and numerical differentiation, applied in measuring devices, instruments, etc., can solve problems such as failure to provide fault amplitude information, achieve the effect of reducing the amount of calculation, reducing the amount of calculation, and suppressing the influence of measurement noise

Inactive Publication Date: 2012-09-12
HARBIN INST OF TECH
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  • Abstract
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Problems solved by technology

These methods can give an alarm signal when a fault occurs, but cannot provide information on the magnitude of the fault

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  • Satellite gyroscope group fault detection, separation and estimation method based on equivalence relation and wavelet transform numerical differentiation
  • Satellite gyroscope group fault detection, separation and estimation method based on equivalence relation and wavelet transform numerical differentiation
  • Satellite gyroscope group fault detection, separation and estimation method based on equivalence relation and wavelet transform numerical differentiation

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specific Embodiment approach 1

[0029] Specific Embodiment 1: This embodiment is to use the method based on the equivalence relationship and the numerical differentiation based on wavelet transform to detect the satellite gyroscope group fault in real time and separate and estimate the fault after judging that the fault occurs. This embodiment is based on the satellite gyroscope During the operation of the group, the hardware redundancy of the inertial gyro components of the moving body is used, and the equivalence relation method is used to detect whether the inertial gyro components fail in real time.

[0030] There are many configurations of the satellite gyroscope group, all of which can be implemented by the method provided by the present invention, but different configurations use their unique measurement equations. In the satellite system, the gyro components usually adopt the configuration of three orthogonal one oblique (3+1S) inertial gyroscope components. This embodiment illustrates the effectivene...

specific Embodiment approach 2

[0046] Specific embodiment two: the difference between this embodiment and specific embodiment one is that the satellite inertial gyro group is set to When , the amplitude of the X-axis gyro sensor is Take the constant drift mutation fault as an example. Such as figure 1 As shown, the specific execution steps are as follows:

[0047] Execution step 1: judge whether a fault occurs according to the method described in the first embodiment, the equivalent vector The norm result of image 3 shown. If the magnitude of the equivalent vector exceeds the predetermined detection threshold, it indicates that the gyro group is faulty, and step 2 is performed.

[0048] Execute step 2: if the output parameter of the satellite attitude system is four elements, go directly to step three; if the output parameter of the satellite attitude sensor is Euler angle, obtain the four elements of attitude that are easy to process through the transformation matrix.

[0049] The execution step ...

specific Embodiment approach 3

[0091] Specific Embodiment 3: This embodiment verifies that the method of the present invention also has the ability to diagnose slowly changing faults. For slow-change fault verification: set the satellite gyro sensor on the Y-axis at A slow-change fault occurs, and the fault is a slope of , the fault is described by the following function as .

[0092] The execution steps are as follows: the time interval used in the specific execution process is , the standard deviation of the gyro noise is .

[0093] Execution step 1: Calculate the equivalent vector by formula (4), and the equivalent vector when the satellite inertial gyro group has a slowly changing fault The schematic diagram of the norm is as Figure 7 shown in When it is judged that it is greater than the fault detection threshold , the satellite gyro fails, go to step 2.

[0094] Execute step 2: convert the Euler angles output parameters of the satellite attitude sensor into four elements of attitude ...

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Abstract

The invention provides a satellite gyroscope group fault detection, separation and estimation method based on equivalence relation and wavelet transform numerical differentiation, relating to a security monitoring technology method of a movement gyroscope group in the aerospace field. The satellite gyroscope group fault detection, separation and estimation method provided by the invention comprises the following steps of: step 1, detecting whether a satellite inertia gyroscope assembly has a fault or not through an equivalence relation method, if the satellite inertia gyroscope group assembly has no fault, skipping to a new period, otherwise, carrying out step 2; step 2, if parameters output by a satellite posture system are four elements, directly entering a step 3; and if the parameters output by a satellite posture sensor are eulerian angles, converting into the four posture elements; step 3, obtaining numerical differentiations of the four posture elements through approximation analysis by using an algorithm based on the wavelet transform numerical differentiation; and step 4, approximately obtaining the faults of the satellite gyroscope sensor group through a reconfiguration algorithm, so as to detect, separate and estimate the faults. The satellite gyroscope group fault detection, separation and estimation method provided by the invention effectively reduces the calculation amount, can diagnose early-stage slowly varying faults, and is useful when the gyroscope sensors have the fault.

Description

technical field [0001] The invention relates to a technical method for safety monitoring of a moving gyro group in the field of aerospace, in particular to a satellite gyro evaluation method based on wavelet transform numerical differentiation. Background technique [0002] With the development of aerospace science and technology, the safety of spacecraft is becoming more and more important. To ensure the safety of spacecraft and astronauts, it is necessary to diagnose the failure of the spacecraft in time and make an accurate assessment of the failure (location and amplitude) , so as to adopt corresponding fault handling schemes in time to avoid property damage and safety accidents of spacecraft and personnel. As an important measurement component of attitude information, the satellite gyro sensor is widely used in the satellite attitude control system, and its reliability will have an impact on the attitude control performance of the entire satellite. However, due to the ...

Claims

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Application Information

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IPC IPC(8): G01C25/00
Inventor 张淼沈毅蔡启超王振华
Owner HARBIN INST OF TECH
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