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Single-set gyroscope fault diagnosis method using angular rate estimation information

A fault diagnosis and angular rate technology, applied in navigation calculation tools, measuring devices, instruments, etc., can solve problems such as effective diagnosis of difficult gyroscope faults

Active Publication Date: 2018-04-03
SHANGHAI AEROSPACE CONTROL TECH INST
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

It is difficult to effectively diagnose the fault of the gyro due to the absence of redundant angular rate measurement information

Method used

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  • Single-set gyroscope fault diagnosis method using angular rate estimation information
  • Single-set gyroscope fault diagnosis method using angular rate estimation information
  • Single-set gyroscope fault diagnosis method using angular rate estimation information

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Embodiment Construction

[0044] Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0045] Such as figure 1 As shown, the single-set gyroscope fault diagnosis method using angular rate estimation information includes the following steps:

[0046] S1. Setting the attitude dynamic model of the satellite, the kinematic model of the satellite and the state variables of the satellite.

[0047] In step S1, the attitude dynamic model of the satellite is as shown in the following equation (1):

[0048]

[0049] The kinematic model of the satellite is shown in equation (2) below:

[0050]

[0051] The state variables of the satellite are: Among them, I is the inertia matrix of the satellite, is the angular velocity of the satellite, is the first derivative of the angular velocity of the satellite, ω bix is the rolling angular velocity of the satellite, ω biy is the pitch angular velocity of the satellite, ω biz is the yaw angula...

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Abstract

A single-set gyroscope fault diagnosis method using angular rate estimation information comprises the steps as follows: S1, setting an attitude dynamic model, a kinematic model and a state variable ofa satellite; S2, establishing a state equation and a measurement equation according to the attitude dynamic model, the kinematic model and the state variable of the satellite; S3, discretizing the state equation and the measurement equation; S4, filtering the measured attitude angle of the satellite according to the discretized state equation and the discretized measurement equation to obtain estimated values of the currently shot attitude angle and angular speed; S5, measuring the inertial angular speed of the satellite and judging whether a gyroscope fails or not according to the estimatedvalue of the currently shot angular speed and a preset threshold.

Description

technical field [0001] The invention relates to a fault diagnosis method for a satellite attitude control single-set rate gyroscope. Background technique [0002] When the satellite has only one set of rate gyroscopes running, it can only measure the three-axis angular rate of a set of satellites, which is set to ω m =[ω mx (k)ω my (k)ω mz (k)] T . Since there is no redundant angular rate measurement information, it is difficult to effectively diagnose the fault of the gyroscope. However, satellites are generally equipped with a variety of angle measurement sensors, such as star sensors, sun sensors, horizons, etc., through information fusion of various angle sensors, the angle information of the satellite in the reference coordinate system can be obtained more reliably. set to θ m 、ψ m . Use the angle information to estimate the angular rate of the satellite more accurately, and obtain the angular rate of the satellite in the reference coordinate system, set as ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01C21/20G01C21/24
CPCG01C21/20G01C21/24G01C25/005
Inventor 李英波刘斌程卫强程静刘晓娜张子龙聂章海陆丹萍吴伟清
Owner SHANGHAI AEROSPACE CONTROL TECH INST