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Gyro failure autonomous diagnostic method of inspector in static state

A technology of fault diagnosis and diagnosis method, applied in the direction of instruments, measuring devices, etc., can solve the problem that the gyro diagnosis method cannot be applied, and achieve the effect of autonomous fault diagnosis

Active Publication Date: 2014-04-30
BEIJING INST OF CONTROL ENG
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is: because the four gyroscopes do not satisfy the fault diagnosable conditions, the gyroscope diagnosis method based on the balance equation cannot be applied

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  • Gyro failure autonomous diagnostic method of inspector in static state
  • Gyro failure autonomous diagnostic method of inspector in static state
  • Gyro failure autonomous diagnostic method of inspector in static state

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Embodiment Construction

[0037] The specific implementation of the present invention will be further described in detail below in conjunction with specific examples. The present invention proposes a method for self-diagnosing gyroscope faults when the patrol device is static, the steps are as follows:

[0038] (1) Establish the consistency relationship used to describe the gyroscope output;

[0039] like figure 1 As shown, the sensitive axes of the three orthogonal gyroscopes are X, Y, and Z axes in turn, and the X, Y, and Z axes are orthogonal to each other. The included angles are α 1 、α 2 、α 3 , α 1 、α 2 、α 3 ∈(0°, 180°) and α 1 、α 2 、α 3 ≠90°;

[0040] The four gyro outputs can establish the following coherence relationships:

[0041] S xyz = ω x 2 + ω y 2 + ...

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Abstract

The invention discloses a gyro failure autonomous diagnostic method of an inspector in a static state, and the method is capable of utilizing the given stable to-be-detected angular speed of the inspector in the static state and does not need attitude information and carries out failure diagnosis on four gyros. The method comprises the following basic flow procedures of firstly establishing a redundancy relation for the outputs of the four gyros, judging the consistency of the redundancy relation, judging a failure source resulting in inconsistency, and positioning a failed gyro through a failure diagnosis policy.

Description

technical field [0001] The invention relates to a gyroscope fault diagnosis method suitable for patrollers when they are static. The method does not require attitude prior knowledge, is simple to calculate, takes up less system resources, and is easy to implement in engineering. It can be applied to four gyroscopes in static conditions. Troubleshooting. Background technique [0002] The rover is equipped with four gyroscopes (three mounted orthogonally and one mounted obliquely) for pose estimation while in motion. Gyro faults will lead to errors in dynamic attitude estimation, so it is necessary to study gyro autonomous fault diagnosis methods. [0003] The gyro fault diagnosis method on satellites and spacecraft generally adopts the method of balance equation. This method requires more than four gyroscopes to realize fault location. Four gyroscopes can only realize fault detection, but cannot detect faults. Contents of the invention [0004] The technical problem to be...

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 邢琰滕宝毅刘祥毛晓艳贾永何英姿刘云万丽景张晋
Owner BEIJING INST OF CONTROL ENG
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