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Redundant inertial measurement unit fault detection method based on Granger causal analysis

A causal analysis, redundant technology, applied in the direction of measuring devices, navigation through speed/acceleration measurement, instruments, etc., to achieve high accuracy and robustness

Active Publication Date: 2022-05-31
BEIJING AEROSPACE AUTOMATIC CONTROL RES INST
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Problems solved by technology

[0003] The technical solution of the present invention is to provide a data-driven accurate identification method for inertial group faults in view of the problem of redundant inertial group fault detection in complex backgrounds. Set the time-varying nonlinear dynamic model of measured data and nominal information, and based on this, calculate the complex dynamic causal correlation representation index of the interaction between the measured value of the inertial measurement device and the nominal value, so as to realize the redundant inertial measurement data real-time dynamic monitoring and fault detection

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  • Redundant inertial measurement unit fault detection method based on Granger causal analysis
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  • Redundant inertial measurement unit fault detection method based on Granger causal analysis

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Embodiment Construction

[0035] Attached below Figure 1-2 And embodiment further elaborates the present invention.

[0036] Such as figure 1 Shown, be the method flowchart of the present invention, concrete steps are as follows:

[0037] (1) Obtain the nominal value data of the inertial group and the measured value data of the multi-redundant inertial group.

[0038] According to the flight characteristics and flight mission requirements of the aircraft, the flight test is carried out according to the given nominal value of the inertial group, and the measured value data of all redundant inertial groups during the flight are obtained.

[0039] (2) Construct a time-varying autoregressive (TVAR) model using the nominal value of the inertial group, and perform model parameter identification and model reconstruction to obtain the reconstructed model.

[0040] Let the nominal value of the inertial group be Y={y(t)}t=1, 2,..., N, where N is the data length. The TVAR model of the nominal value of the in...

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Abstract

The invention discloses a redundant inertial measurement unit fault detection method based on Granger causal analysis. The method comprises the following steps: (1) acquiring inertial measurement unit nominal value data and multi-redundant inertial measurement unit measured value data; (2) constructing a TVAR model by using an inertial measurement unit nominal value, and performing model parameter identification and model reconstruction; (3) executing the following processing on each inertial measurement unit in the multiple redundant inertial measurement units: (a) constructing a TVAR model according to the measured value of the current inertial measurement unit, and performing model parameter identification and model reconstruction; (b) constructing an ectogenic input time-varying autoregressive representation model by taking the nominal value of the inertial measurement unit as output and the measured value of the current inertial measurement unit as input, and performing model parameter identification and model reconstruction; (c) taking the measured value of the current inertial measurement unit as output and the nominal value of the inertial measurement unit as input to construct a time-varying autoregressive representation model of exogenous input, and performing model parameter identification and model reconstruction; (d) calculating an interactive Granger causality index and an error of the interactive Granger causality index between each inertial measurement unit and the inertial measurement unit nominal value; and (4) setting an evaluation principle, and evaluating whether each inertial measurement unit has a fault or not.

Description

technical field [0001] The invention relates to a redundant inertial group fault detection method based on Granger causality analysis, and belongs to the technical field of biological crossover and intelligent information processing. Background technique [0002] The inertial measurement unit (inertial group) is usually the key stand-alone aircraft control system, which is used to sensitive the angular velocity and apparent acceleration information during the flight of the aircraft, and sends it to the flight control computer for navigation, guidance and control. Its correctness is directly related to The success or failure of the mission. Therefore, in aircrafts with high reliability requirements, most of the inertial sets adopt redundant design. However, the impact of the inconsistency of the heaven and earth environment on the stability of the inertial unit will cause the failure of the inertial unit, which will directly affect the navigation control accuracy of the airc...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01C21/16G06F30/15
CPCG01C25/00G01C21/16G06F30/15Y02T90/00
Inventor 徐颂罗婷王丽娜刘晶晶
Owner BEIJING AEROSPACE AUTOMATIC CONTROL RES INST
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