Method for diagnosing consistency fault under configuration of five gyroscopes

A fault diagnosis and gyroscope technology, applied in the field of inertial navigation, can solve problems such as increasing costs

Active Publication Date: 2013-02-13
BEIJING AEROSPACE AUTOMATIC CONTROL RES INST +1
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Problems solved by technology

However, due to the use of two sets of inertial groups for fault diagnosis, not only the requirements fo

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  • Method for diagnosing consistency fault under configuration of five gyroscopes
  • Method for diagnosing consistency fault under configuration of five gyroscopes
  • Method for diagnosing consistency fault under configuration of five gyroscopes

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Embodiment Construction

[0044] The present invention will be further introduced below in conjunction with the accompanying drawings.

[0045] 1. Gyro five table redundant structure

[0046] The redundant structure of the present invention is configured in the form of five gyroscopes forming a set of inertial groups. Such as figure 1 As shown, the five gyroscopes include three orthogonally installed gyroscopes Wx, Wy, Wz, and two inclined gyroscopes Ws, Wt; the five gyroscopes are installed in a body structure, thereby forming a Set of habitual groups. The five gyroscopes are fixed on the same azimuth installation reference plane. The positive direction of the measurement axes of the gyroscopes Wx, Wy, Wz is the direction of the coordinate axes of the rocket body coordinate system O-X1Y1Z1, and the specific direction of the measurement axes of the gyroscopes Ws, Wt can be determined according to the actual situation. Among them, O-X1Y1Z1 is the rocket body coordinate system, OX1 is the vertical ax...

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Abstract

The invention discloses a method for diagnosing a consistency fault under the configuration of five gyroscopes. In the five gyroscopes, three gyroscopes Wx, Wy and Wz are arranged in an orthogonal mode and two gyroscopes Ws and Wt are arranged slantwise; and the five gyroscopes are arranged in a body structure. The method comprises the following steps of: constructing five angular velocity consistency fault distinguishing formulas; acquiring angular velocity increments (alpha is x, y, z, s or t) output by the five gyroscopes, and accumulating in a rolling accumulation cycle delta t3 in a rolling mode to acquire an angular velocity increment accumulated value; substituting the angular velocity increment accumulated value into the five formulas to judge whether the five formulas are right; and acquiring a fault diagnosis result according to the judgment. By the method, cost is reduced, the navigation accuracy and reliability are guaranteed, and faultless angular velocity increment can be provided for navigation computation.

Description

technical field [0001] The invention belongs to the field of inertial navigation and relates to a fault diagnosis method. Background technique [0002] In order to improve the reliability of the strapdown inertial group, the current effective way is to adopt the redundant technology, in which it is necessary to carry out fault diagnosis on the same information measurement in the redundant structure. Shan Bin and Miao Dong of the Second Artillery Engineering College published the document "Redundant Design and Optimization of Strapdown Inertial Measurement Combination" in the third issue of "Missile and Space Vehicle Technology" in 2004. Redundancy optimization design under high-degree gyro configuration. This configuration adopts the cone method, that is, each meter is evenly placed on the peripheral wall of an inverted cone, and its plane angle α = 72°, half-cone vertex angle θ = 54.75 °. Although second-degree faults can be tolerated (that is, two tables are allowed to b...

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Application Information

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IPC IPC(8): G01C25/00
Inventor 施国兴吕新广巩庆海李超兵
Owner BEIJING AEROSPACE AUTOMATIC CONTROL RES INST
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