Redundant gyroscope fault location method based on zero spatial vector autonomous optimization selection

Abstract

The invention discloses a redundant gyroscope fault location method based on zero spatial vector autonomous optimization selection. The method comprises the following steps: autonomously calculating two coefficient-optimized zero spatial vectors in allusion to redundant gyroscopes according to the configuration of the gyroscopes; measuring the size of projection on the zero spatial vectors through the gyroscopes, and judging faults of the gyroscopes; sequentially calculating the zero spatial vectors of four gyroscopes when locating the faults of the gyroscopes after knowing the fault of the gyroscopes; locating the faults of the gyroscopes by measuring the size of the projection on the zero spatial vectors through the gyroscopes and combining with exclusion of suspicious gyroscopes. Compared with the prior art, the method disclosed by the invention is used for implementing strict fault judgment and location logic when one gyroscope has faults, no erroneous judgment is caused and the missing judgment rate is relatively low; the method adapts to the configuration of all redundant (five or more than five) gyroscopes under a unified framework by just presetting few parameters, and is high in autonomy and small in calculation amount.

Description

technical field [0001] The invention relates to a redundant gyroscope fault location method based on the autonomous optimization selection of zero space vectors, which belongs to the field of fault diagnosis. Background technique [0002] According to the requirements of service life and measurement accuracy, the type and number of gyroscopes configured by different spacecraft are different. The life and reliability of the gyroscope seriously affect the mission of the spacecraft. For the requirements of long life and high reliability, many spacecraft are equipped with more than 6 gyroscopes (including 6). When the gyro fails, how to quickly diagnose and locate the gyro failure, reduce missed diagnosis, avoid misdiagnosis, reduce the impact of failure, and prevent major disasters in the system are issues that need to be focused on. [0003] At present, commonly used gyroscope fault diagnosis methods include: state estimation method (Aerospace Control, Issue 3, 2004, Zhang Y...

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Problems solved by technology

[0006] 1) There are many configurations using 5 gyroscopes (if 9 gyroscopes are installed, there are 126 types in total), the coefficients and judgment thresholds of the balance equations of each configuration are different, and there are many parameters, and the selection of parameters is relatively random. less autonomy;

[0007] 2) For some bad gyro configurations, the balance coefficients of the same group are very different, which may lead to misjudgment

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