Six gyroscope redundant strapdown inertial navigation system double fault isolation method

Abstract

The invention belongs to the field of inertial navigation systems, and particularly relates to a six gyroscope redundant strapdown inertial navigation system double fault isolation method. The methodcomprises the following steps that output data of a redundant strapdown inertial navigation system inertial device is collected, and output values of a gyroscope and an accelerometer at different moments are obtained; a generalized likelihood ratio fault detection method is adopted to detect faults, and if a fault happens, the fault moment is recorded; a double fault isolation method based on maximum likelihood estimation is adopted to conduct fault isolation; a fault isolation method based on reduced-order odd-even vectors is adopted to conduct fault isolation; a fault information matrix R isdetermined, and system reconfiguration is conducted according to a system reconfiguration formula. By the adoption of the six gyroscope redundant system double fault detection and isolation method, two inertial devices which fail at the same time can be accurately detected and isolated, and thus the reliability of the inertial navigation system is guaranteed; therefore, the method can improve thenavigation system performance more comprehensively and meet the actual application requirements for long time and high reliability of the navigation system.

Description

technical field [0001] The invention belongs to the field of inertial navigation systems, and in particular relates to a double-fault isolation method for a six-gyro redundant strapdown inertial navigation system. Background technique [0002] The inertial navigation system is referred to as the inertial navigation system for short. This system mainly uses inertial sensitive components (such as accelerometers and gyroscopes, etc.) An autonomous navigation system that measures the information and calculates the corresponding attitude, speed, and position information of the carrier. With the continuous development of the ship's range and combat mission requirements, while the requirements for the accuracy of the inertial navigation system are continuously improved, the requirements for the reliability of the system are also getting higher and higher. With the development of control theory and computer technology, using redundancy technology to improve the reliability of navig...

AI Technical Summary

Problems solved by technology

In "Double fault isolation based on the reduced-order parity vectors in redundant sensor configuration" (2007, Issue 02), Yang proposed the reduced-order parity vector method to detect and isolate double faults, which can realize soft faults and hard faults with different fault amplitudes. Fault detection and isolation; Won Heel Lee proposed an extended parity vector method for double fault detection and isolation in "Two-faults detection and isolation using extended parity space approach" (2012, Issue 03). However, the above methods are all aimed at seven Or more than seven inertial devices are not suitable for inertial navigation systems with less than seven redundancy; Qin Yongyuan and Wei Wei in "Soft Fault Detection and Isolation to Ensure Full Attitude Measurement in Strapdown Inertial Navigation System" (1999, 02 ) and "Soft Fault Detection of Strapdown Inertial Navigation with Redundant Sensors" (2009, Issue 01) based on the maximum likelihood estimation method, a double fault isolation function is proposed, which can isolate the individual cases of double faults in the six gyroscope system, Cannot fully isolate double faults

[0005] There is currently no way to isolate two soft faults or two hard faults in a six-gyro redundant system at the same time

Images