Space station gyroscope orthogonality judgment method and device

Abstract

The invention discloses a space station gyroscope orthogonality judgment method and device, and belongs to the technical field of data processing. The method comprises the following steps: pre-constructing a plurality of configuration sets; determining LTU components contained in each configuration set to form a plurality of component sets in one-to-one correspondence with the plurality of configuration sets; when gyro orthogonality judgment is carried out on the current configuration, determining a target configuration set to which the current configuration belongs according to the plurality of configuration sets; determining all LTU components contained in a corresponding target component set according to the target configuration set; whether a target LTU assembly exists in all LTU assemblies contained in the target assembly set or not is determined, three gyroscopes in the target LTU assembly participate in fault diagnosis and have no faults, and if yes, it is determined that the three gyroscopes in the target LTU assembly have orthogonality. According to the invention, the operand can be reduced and the searching speed can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and in particular to a method and device for judging the orthogonality of a space station gyroscope. Background Art

[0002] In the space station, the gyroscope is one of the core components of attitude measurement and determination. Every three gyroscopes constitute an LTU (local terminal unit) assembly. The three gyroscopes in the same LTU assembly are orthogonal to each other, and each LTU assembly rotates an angle. In order to improve the accuracy of attitude determination, it is necessary to select three orthogonal gyroscopes for attitude determination.

[0003] In the related art, to determine whether the gyroscopes are orthogonal, the installation vectors of the two gyroscopes can be subjected to a dot product operation. If the dot product is zero, the two gyroscopes are orthogonal. However, there are many gyroscopes in the space station, and the amount of calculation required to determine this is very large. Summary of the invention

[0004] The present invention provides a method and device for determining the orthogonality of a space station gyroscope. The technical solution is as follows:

[0005] In one aspect, a method for determining orthogonality of a space station gyroscope is provided, the method comprising:

[0006] Pre-constructing multiple configuration sets; and determining the LTU components included in each configuration set to form multiple component sets corresponding to the multiple configuration sets;

[0007] When performing gyro orthogonality judgment on the current configuration, determining a target configuration set to which the current configuration belongs according to the multiple configuration sets;

[0008] Determine all LTU components included in the corresponding target component set according to the target configuration set;

[0009] It is determined whether there is a target LTU component among all LTU components included in the target component set, and the three gyroscopes in the target LTU component all participate in the fault diagnosis and have no faults. If so, it is determined that the three gyroscopes in the target LTU component have orthogonality.

[0010] On the other hand, a space station gyro orthogonality determination device is provided, the device comprising:

[0011] A construction unit is used to pre-construct a plurality of configuration sets; and determine the LTU components included in each configuration set to form a plurality of component sets corresponding to the plurality of configuration sets one by one;

[0012] A first determination unit is configured to determine, when performing gyro orthogonality judgment on a current configuration, a target configuration set to which the current configuration belongs according to the multiple configuration sets; and determine, according to the target configuration set, all LTU components included in a corresponding target component set;

[0013] The second determination unit is used to determine whether there is a target LTU component among all LTU components included in the target component set, and the three gyroscopes in the target LTU component all participate in the fault diagnosis and have no faults. If so, it is determined that the three gyroscopes in the target LTU component are orthogonal.

[0014] On the other hand, a computer device is provided, which includes a memory and a processor, the memory is used to store computer programs, and the processor is used to execute the computer programs stored in the memory to implement the steps of the above-mentioned method for determining the orthogonality of a space station gyroscope.

[0015] On the other hand, a computer-readable storage medium is provided, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned method for determining the orthogonality of the space station gyroscope are implemented.

[0016] On the other hand, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for determining the orthogonality of a space station gyroscope.

[0017] The technical solution provided by the present invention can at least bring the following beneficial effects:

[0018] By constructing a configuration set in advance and forming multiple component sets corresponding to multiple configuration sets one by one, and using the configuration set and component set as basic library data, when facing different configurations, the target configuration set to which the current configuration belongs can be determined according to the configuration set, and then all LTU components included in the target component set corresponding to the target configuration set can be determined, and further from the LTU components included in the target component set, it is found whether the target LTU component with three gyro failures is included, so that the LTU components with orthogonality can be quickly found in a small range. This solution can reduce the amount of calculation and improve the search speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1It is a flow chart of a method for determining orthogonality of a space station gyroscope provided by one embodiment of the present invention;

[0021] Figure 2 It is a structural diagram of a space station gyro orthogonality determination device provided by one embodiment of the present invention;

[0022] Figure 3 It is a hardware architecture diagram of a computer device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0024] As mentioned earlier, there are a large number of gyroscopes in the space station, and the amount of calculation required for orthogonal judgment through dot product operations is very large.

[0025] Considering that for a single cabin, the installation of the gyro relative to the cabin is fixed, the orthogonality of the gyro can be determined by judging the gyro number. If the orthogonality of the gyro between multiple cabins is considered, under certain configurations of the assembly, the gyro of this cabin and the gyro of other cabins also satisfy the orthogonal relationship. Since there are dozens of configurations of the space station assembly, there are more than one hundred combinations of all orthogonal gyro in the cross-cabin case. If the design is carried out in this way, the software logic is very complicated, and the resulting testing workload is huge. Considering that when using cross-cabin gyro, the system has already suffered multiple faults, in this case, the selection of orthogonal gyro can be achieved through ground injection means.

[0026] Based on this, the inventive concept of the present invention is that three gyroscopes that meet orthogonality can be selected from the gyroscopes involved in fault diagnosis by searching layer by layer through configuration, LTU number, and gyroscope number, so as to avoid a large number of complex dot product operations and thus reduce the testing workload.

[0027] The specific implementation of the above concept is described below.

[0028] Please refer to Figure 1 , an embodiment of the present invention provides a method for determining orthogonality of a space station gyroscope, the method comprising:

[0029] Step 100, pre-construct multiple configuration sets; and determine the LTU components included in each configuration set to form multiple component sets corresponding to the multiple configuration sets;

[0030] Step 102, when performing gyro orthogonality judgment on the current configuration, determining a target configuration set to which the current configuration belongs according to the multiple configuration sets;

[0031] Step 104, determining all LTU components included in the corresponding target component set according to the target configuration set;

[0032] Step 106, determining whether there is a target LTU component among all LTU components included in the target component set, in which three gyroscopes all participate in fault diagnosis and have no faults. If so, determining that the three gyroscopes in the target LTU component are orthogonal.

[0033] In the embodiment of the present invention, by pre-constructing a configuration set and forming a plurality of component sets corresponding to the plurality of configuration sets, the configuration set and the component set are used as basic library data. When facing different configurations, the target configuration set to which the current configuration belongs can be determined according to the configuration set, and then all LTU components included in the target component set corresponding to the target configuration set can be determined, and further, the target LTU component including all three gyros without faults can be found from the LTU components included in the target component set, so that the LTU components with orthogonality can be quickly found in a small range. This solution can reduce the amount of calculation and improve the search speed.

[0034] Described below Figure 1 How the various steps are performed.

[0035] First, with respect to step 100, multiple configuration sets are pre-constructed; and the LTU components included in each configuration set are determined to form multiple component sets corresponding to the multiple configuration sets one by one.

[0036] In the embodiment of the present invention, the configuration reflects the docking state in the space station. The space station assembly is formed by docking multiple cabins. According to mission requirements, the space station has multiple different configurations formed by docking different cabins. Therefore, in one implementation, the configurations can be classified according to the docking state based on the known configurations formed by docking different cabins in the space station to obtain multiple configuration sets.

[0037] Among them, the docking state can be a T-shaped configuration, a straight configuration, etc.

[0038] Assuming that there are 50 known configurations, numbered P1-P50, 5 configuration sets are obtained after classification according to the docking state, numbered F1-F5, and each configuration set contains the following configurations:

[0039] F1 = {P1-P10};

[0040] F2 = {P11-P20};

[0041] F3 = {P21-P30};

[0042] F4 = {P31-P40};

[0043] F5 = {P41 ~ P50}.

[0044] The LTU component includes three mutually orthogonal gyroscopes. If the number of LTU components is n, then the number of gyroscopes is 3n, where n is an integer not less than 2. Since the LTU components included in each configuration in the configuration set are determined, the LTU components included in the configuration in the configuration set can be regarded as a component set.

[0045] Assume that the number of LTU components is 9, the LTU components are numbered L1-L9, the number of gyroscopes is 27, and the gyroscopes are numbered G1-G27. The numbers of the three gyroscopes contained in each LTU component are shown in Table 1 below:

[0046] Table 1:

[0047]

[0048] The five component sets corresponding to the above five configuration sets are:

[0049] F1→{L1, L2, L3};

[0050] F2→{L1, L2, L3, L4, L5, L6};

[0051] F3→{L1, L2, L3, L4, L5, L6, L7, L8, L9};

[0052] F4→{L4, L5, L6};

[0053] F5 → {L7, L8, L9}.

[0054] It can be seen that the same LTU component can be located in different LTU component sets. For example, LTU component L1 is located in the component sets corresponding to configuration sets F1, F2 and F3 respectively.

[0055] After the above-mentioned configuration set and component set are formed, since the configurations and components in the space station are already all covered in the above-mentioned configuration set and component set, the above-mentioned configuration set and component set are used as basic library data, and each time it is necessary to determine whether the gyroscope is orthogonal, the basic library data is used for determination.

[0056] Then, step 102 "when performing gyro orthogonality judgment on the current configuration, determining the target configuration set to which the current configuration belongs according to the multiple configuration sets" and step 104 "determining all LTU components included in the corresponding target component set according to the target configuration set" are explained at the same time.

[0057] Since the configuration of the space station changes frequently, once the configuration of the space station is determined, three orthogonal gyroscopes need to be selected for each beat to obtain measurement data. Whether the selected gyroscopes are orthogonal requires orthogonality determination. As can be seen from the foregoing, the three gyroscopes in the LTU assembly are orthogonal to each other. Therefore, the gyroscope can be selected by selecting a fault-free LTU assembly.

[0058] Specifically, when the current configuration of the space station needs to perform gyro orthogonality judgment, the target configuration set to which the current configuration belongs is determined based on multiple configuration sets.

[0059] The configuration number of the current configuration is between P1 and P10, and the corresponding configuration set is F1;

[0060] The configuration number of the current configuration is between P11 and P20, and the corresponding configuration set is F2;

[0061] The configuration number of the current configuration is between P21 and P30, so the corresponding configuration set is F3;

[0062] The configuration number of the current configuration is between P31 and P40, so the corresponding configuration set is F4;

[0063] The configuration number of the current configuration is between P41 and P50, and the corresponding configuration set is F5.

[0064] After determining the target configuration set, the target component set can be directly determined. Assuming the target configuration set is F1, the component set is {L1, L2, L3}.

[0065] Finally, for step 106, it is determined whether there is a target LTU component among all LTU components included in the target component set, and the three gyroscopes in the target LTU component all participate in the fault diagnosis and have no faults. If so, it is determined that the three gyroscopes in the target LTU component are orthogonal.

[0066] In the embodiment of the present invention, the space station needs to perform fault diagnosis on the gyro in each beat to determine whether the gyro is fault-free, thereby ensuring the accuracy of the gyro data. Each beat may represent each fault diagnosis cycle.

[0067] In order to select three gyros that are orthogonal to each other, in one embodiment of the present invention, several gyros are selected for fault diagnosis in each fault diagnosis cycle. If the fault diagnosis result is no fault, the gyro is marked for diagnosis; wherein, the several gyros may be gyros in an on state. Assuming that the number of gyros in the current configuration is 10, since the gyros have a service life, if all 10 gyros are turned on, the life of the gyros will be consumed, so several gyros can be selected to be in an on state. Only when the turned-on gyros have a fault, the other gyros will be turned on.

[0068] That is, in one embodiment of the present invention, when a plurality of gyroscopes are selected for fault diagnosis in each fault diagnosis cycle, if there is a target gyroscope with a fault diagnosis result being faulty, the spare gyroscope is turned on to perform fault diagnosis on the spare gyroscope.

[0069] Then, the step of determining whether there is a target LTU component among all LTU components included in the target component set includes: for each LTU component included in the target component set, determining whether the three gyroscopes in the LTU component all have a diagnostic mark, and if so, determining the LTU component as the target LTU component.

[0070] Assuming that the target component set is {L1, L2, L3}, then according to Table 1, it can be known that the gyro numbers corresponding to L1 are {G1-G3}, the gyro numbers corresponding to L2 are {G4-G6}, and the gyro numbers corresponding to L3 are {G7-G9};

[0071] Then for L1, if G1-G3 all have diagnostic markers, L1 is determined as the target LTU component;

[0072] For L2, if G4 to G6 all have diagnostic markers, L2 is determined as the target LTU component;

[0073] For L3, if G7 to G9 all have diagnostic markers, L3 is determined as the target LTU component.

[0074] It can be seen that the number of target LTU components can be multiple.

[0075] Furthermore, after determining that the three gyros in the target LTU assembly are orthogonal, the method further includes: acquiring measurement data using the three gyros in the target LTU assembly. When there are multiple target LTU assemblies, the three gyros in one target LTU assembly can be arbitrarily selected to acquire measurement data.

[0076] The embodiment of the present invention searches layer by layer through configuration, LTU components, and gyroscopes, and selects three gyroscopes that meet orthogonality from the gyroscopes that participate in fault diagnosis and have no faults, so that the judgment situations of orthogonal gyroscopes are simplified from hundreds to dozens, which greatly simplifies the logic. When implemented by software, the software is clearer and easier to implement, and the testing workload is greatly reduced.

[0077] Please refer to Figure 2 The embodiment of the present invention provides a space station gyro orthogonality determination device, the device comprising:

[0078] The construction unit 200 is used to pre-construct a plurality of configuration sets; and determine the LTU components included in each configuration set to form a plurality of component sets corresponding to the plurality of configuration sets one by one;

[0079] The first determination unit 202 is used to determine the target configuration set to which the current configuration belongs according to the multiple configuration sets when performing gyro orthogonality judgment on the current configuration; and determine all LTU components included in the corresponding target component set according to the target configuration set;

[0080] The second determination unit 204 is used to determine whether there is a target LTU component among all LTU components included in the target component set, and the three gyros in the target LTU component all participate in the fault diagnosis and have no faults. If so, it is determined that the three gyros in the target LTU component have orthogonality.

[0081] In one embodiment of the present invention, when constructing multiple configuration sets, the construction unit specifically includes: according to known configurations formed by docking of different cabins in the space station, classifying the configurations according to the docking status to obtain multiple configuration sets.

[0082] In one embodiment of the present invention, the same LTU component may be located in different LTU component sets.

[0083] In one embodiment of the present invention, the device may further include: a marking unit, configured to select a number of gyroscopes for fault diagnosis in each fault diagnosis cycle, and to mark the gyroscope for diagnosis if the fault diagnosis result is no fault;

[0084] The second determination unit is specifically configured to: for each LTU component included in the target component set, determine whether the three gyroscopes in the LTU component all have a diagnosis mark, and if so, determine the LTU component as a target LTU component.

[0085] In one embodiment of the present invention, the device may further include: a gyro switching unit, which is used to select several gyros for fault diagnosis in each fault diagnosis cycle, and if there is a target gyro with a fault diagnosis result as a faulty gyro, turn on the spare gyro to perform fault diagnosis on the spare gyro.

[0086] In one embodiment of the present invention, the apparatus may further include: a data acquisition unit, configured to acquire measurement data using the three gyroscopes in the target LTU assembly after determining that the three gyroscopes in the target LTU assembly have orthogonality.

[0087] It should be noted that: the space station gyro orthogonality judgment device provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the space station gyro orthogonality judgment device provided in the above embodiment and the space station gyro orthogonality judgment method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0088] The embodiment of the present application also provides a computer device, please refer to Figure 3 The computer device includes a processor and a memory, in which at least one instruction, at least one program, a code set or an instruction set is stored, and the at least one instruction, at least one program, a code set or an instruction set is loaded and executed by the processor to implement the space station gyroscope orthogonality judgment method provided by the above-mentioned method embodiments.

[0089] An embodiment of the present application also provides a computer-readable storage medium, on which is stored at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the space station gyroscope orthogonality determination method provided in the above-mentioned method embodiments.

[0090] An embodiment of the present application also provides a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium, and the processor executes the computer program, so that the computer device executes the space station gyroscope orthogonality determination method described in any of the above embodiments.

[0091] For the convenience of description, the above system or device is described as being divided into various modules or units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0092] It can be known from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly contributed to the prior art in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0093] Finally, it should be noted that, in this article, relational terms such as first, second, third and fourth are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0094] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for determining the orthogonality of a space station gyroscope, characterized in that: The method comprises: Pre-constructing multiple configuration sets; and determining the LTU components included in each configuration set to form multiple component sets corresponding to the multiple configuration sets; When performing gyro orthogonality judgment on the current configuration, determining a target configuration set to which the current configuration belongs according to the multiple configuration sets; Determine all LTU components included in the corresponding target component set according to the target configuration set; It is determined whether there is a target LTU component among all LTU components included in the target component set, and the three gyroscopes in the target LTU component all participate in the fault diagnosis and have no faults. If so, it is determined that the three gyroscopes in the target LTU component have orthogonality.

2. The method according to claim 1, characterized in that The constructing of multiple configuration sets includes: According to the known configurations formed by the docking of different modules in the space station, the configurations are classified according to the docking status to obtain multiple configuration sets.

3. The method according to claim 2, characterized in that The same LTU component can be located in different LTU component sets.

4. The method according to claim 2, characterized in that: Also includes: In each fault diagnosis cycle, a number of gyroscopes are selected for fault diagnosis. If the fault diagnosis result is that there is no fault, a diagnosis mark is given to the gyroscope; The determining whether there is a target LTU component among all LTU components included in the target component set includes: for each LTU component included in the target component set, determining whether three gyroscopes in the LTU component all have a diagnostic mark, and if so, determining the LTU component as the target LTU component.

5. The method according to claim 4, characterized in that Also includes: When a number of gyros are selected for fault diagnosis in each fault diagnosis cycle, if there is a target gyro with a fault diagnosis result indicating that the target gyro is faulty, the spare gyro is turned on to perform fault diagnosis on the spare gyro.

6. The method according to any one of claims 1 to 5, characterized in that: After determining that the three gyroscopes in the target LTU component are orthogonal, the method further includes: acquiring measurement data using the three gyroscopes in the target LTU component.

7. A space station gyro orthogonality determination device, characterized in that: The device comprises: A construction unit is used to pre-construct a plurality of configuration sets; and determine the LTU components included in each configuration set to form a plurality of component sets corresponding to the plurality of configuration sets one by one; A first determination unit is configured to determine, when performing gyro orthogonality judgment on a current configuration, a target configuration set to which the current configuration belongs according to the multiple configuration sets; and determine, according to the target configuration set, all LTU components included in a corresponding target component set; The second determination unit is used to determine whether there is a target LTU component among all LTU components included in the target component set, and the three gyroscopes in the target LTU component all participate in the fault diagnosis and have no faults. If so, it is determined that the three gyroscopes in the target LTU component are orthogonal.

8. A computer device, characterized in that: The computer device includes a memory and a processor, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to implement the steps of any one of the methods described in claims 1-6.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The method comprises a computer program, wherein when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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