Method for determining and recovering abnormal saturation of fiber-optic gyroscope sensor output

Abstract

This invention discloses a method for determining and restoring abnormal saturation of the output of a fiber optic gyroscope sensor. The method includes: responding to a pre-set function enable flag in the fiber optic gyroscope sensor being in an on state, monitoring the current output data of the fiber optic gyroscope; determining whether the fiber optic gyroscope is abnormally saturated based on the relationship between the current output data and a set saturation value; and determining whether to restore the fiber optic gyroscope based on its accumulated reset count in response to abnormal saturation. This application can quickly identify and restore abnormally saturated gyroscopes.

Description

Technical Field

[0001] This invention relates to the field of fiber optic gyroscope technology, and in particular to a method for determining and restoring abnormal saturation of the output of a fiber optic gyroscope sensor. Background Technology

[0002] Fiber optic gyroscopes, as the primary inertial attitude sensors, utilize the Sagnac effect to measure the angular rate of rotation of the platform relative to inertial space. Their accuracy, characterized by angular random walk, covers a range from 1e-2° / √h to 8e-5° / √h. High-precision fiber optic gyroscopes employ overmodulation depth to improve random walk performance. This limits the angular acceleration response of parameters such as the detector's operating voltage at large angular velocities. When a large external angular acceleration is input, the detector output can saturate, leading to closed-loop control failure. As a critical attitude sensor for spacecraft, the quality of fiber optic gyroscope output data directly impacts the system's closed-loop control performance. Therefore, when the fiber optic gyroscope output saturates, it can cause spacecraft instability or even damage, resulting in mission failure.

[0003] Existing control methods have two main drawbacks. First, they cannot detect abnormal saturation of fiber optic gyroscope outputs on-orbit, leading to untimely detection of sensor malfunctions and causing spacecraft instability. Second, once a saturation sensor is detected and removed, there are no recovery measures, resulting in the loss of a gyroscope and reducing the redundancy margin of the system.

[0004] Therefore, there is an urgent need for a method to determine and recover from abnormal saturation of the output of a fiber optic gyroscope sensor to solve the above problems. Summary of the Invention

[0005] This invention provides a method for determining and restoring abnormal saturation in the output of a fiber optic gyroscope sensor, which can quickly identify and restore abnormally saturated gyroscopes. The technical solution is as follows:

[0006] On the one hand, a method for determining and recovering abnormal saturation of the output of a fiber optic gyroscope sensor is provided, the method comprising:

[0007] In response to a pre-set function enable flag in the fiber optic gyroscope sensor being in the on state, the current output data of the fiber optic gyroscope is monitored.

[0008] Based on the relationship between the current output data and the set saturation value, determine whether the fiber optic gyroscope is abnormally saturated;

[0009] In response to abnormal saturation of the fiber optic gyroscope, a determination is made as to whether to restore the fiber optic gyroscope based on its cumulative number of resets.

[0010] On the other hand, a device for determining and restoring abnormal saturation of the output of a fiber optic gyroscope sensor is provided, the device comprising:

[0011] A monitoring unit is configured to monitor the current output data of the fiber optic gyroscope in response to a pre-set function enable flag in the fiber optic gyroscope sensor being in the on state.

[0012] The judgment unit is used to determine whether the fiber optic gyroscope is abnormally saturated based on the relationship between the current output data and the set saturation value.

[0013] A determination unit is used to determine whether to restore the fiber optic gyroscope based on its accumulated number of resets in response to abnormal saturation of the fiber optic gyroscope.

[0014] On the other hand, a computer device is provided, the computer device including a memory and a processor, the memory for storing computer programs, and the processor for executing the computer programs stored in the memory to implement the steps of the method for determining and recovering abnormal saturation of the output of the fiber optic gyroscope sensor described above.

[0015] On the other hand, a computer-readable storage medium is provided, wherein a computer program is stored therein, and when the computer program is executed by a processor, the steps of the method for determining and restoring abnormal saturation of the output of the fiber optic gyroscope sensor described above are implemented.

[0016] On the other hand, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the method for determining and recovering abnormal saturation of the output of a fiber optic gyroscope sensor as described above.

[0017] This invention provides a method for determining and recovering from abnormal saturation in the output of a fiber optic gyroscope sensor. First, a function enable flag is set in the fiber optic gyroscope sensor. When the flag is 1, abnormal saturation can be determined and recovered; otherwise, no action is taken. Then, the fiber optic gyroscope is equipped with the function of monitoring output data and comparing it with a saturation value. If the absolute value of the output data is greater than the saturation value, the fiber optic gyroscope is considered abnormally saturated. Finally, the cumulative number of resets determines whether to restore the fiber optic gyroscope. This application improves the fiber optic gyroscope sensor, allowing the determination and recovery from abnormal saturation to be completed on a single device, eliminating the need to transmit data to ground equipment. This not only improves the efficiency of identifying abnormal saturation in the fiber optic gyroscope output, reduces the false diagnosis rate, and makes the system more stable, but also enables the fiber optic gyroscope to autonomously recover after saturation anomalies, ensuring system redundancy backup. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart of a method for determining and restoring abnormal saturation of the output of a fiber optic gyroscope sensor according to an embodiment of the present invention;

[0020] Figure 2 This is a structural diagram of a device for determining and restoring abnormal saturation of the output of a fiber optic gyroscope sensor, provided in an embodiment of the present invention.

[0021] Figure 3 This is a hardware architecture diagram of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0023] The specific implementation of the method in this application is described in detail below.

[0024] Please refer to Figure 1 The present invention provides a method for determining and recovering abnormal saturation of the output of a fiber optic gyroscope sensor, the method comprising:

[0025] Step 100: In response to a function enable flag being pre-set in the fiber optic gyroscope sensor and the flag being in the on state, monitor the current output data of the fiber optic gyroscope.

[0026] Step 102: Based on the relationship between the current output data and the set saturation value, determine whether the fiber optic gyroscope is abnormally saturated;

[0027] Step 104: In response to abnormal saturation of the fiber optic gyroscope, determine whether to restore the fiber optic gyroscope based on its accumulated number of resets.

[0028] In this embodiment, firstly, a function enable flag is set in the fiber optic gyroscope sensor. When the flag is 1, abnormal saturation can be detected and recovered; otherwise, no processing is performed. Then, the fiber optic gyroscope is equipped with the function of monitoring output data and comparing it with the saturation value. If the absolute value of the output data is greater than the saturation value, the fiber optic gyroscope is considered abnormally saturated. Finally, based on the cumulative number of resets, it is determined whether to restore the fiber optic gyroscope. This application, by improving the fiber optic gyroscope sensor, allows the detection and recovery of abnormal saturation to be completed on a single device, without needing to be transmitted to ground equipment. This not only improves the efficiency of identifying abnormal saturation in the fiber optic gyroscope output, reduces the false diagnosis rate, and makes the system more stable, but also enables the fiber optic gyroscope to autonomously recover after saturation anomalies, ensuring system redundancy backup.

[0029] The following description Figure 1 The execution method for each step is shown.

[0030] First, regarding step 100:

[0031] The function enable flag bEnReset needs to be pre-set in the fiber optic gyroscope sensor, with a default initial value of 1. When this flag is 1, the fiber optic gyroscope sensor can be monitored and self-recovered; when this flag is 0, no processing is performed, and existing methods can be used for abnormal saturation detection. In addition, this flag can be set via command. If the command is set to 1, the reset count NumReset must also be set to 0.

[0032] In addition, the fiber optic gyroscope monitors the data every time it senses it, ensuring that any abnormalities in the fiber optic gyroscope sensor can be detected in a timely manner through real-time monitoring.

[0033] For step 102, the following are included:

[0034] S1: Determine if the absolute value of the current output data is greater than the saturation value; if yes, execute S2; otherwise, execute S3.

[0035] S2, increment the current anomaly count by 1, and determine whether the anomaly count after incrementing by 1 is greater than the anomaly count threshold; if yes, determine that the fiber optic gyroscope is abnormal; if no, proceed to S3.

[0036] S3 sets the current exception count to 0, judges the next output data, and returns to execute S1.

[0037] In this step, if the absolute value of the fiber optic gyroscope output data is greater than the saturation value, there are two possible reasons:

[0038] The first possibility is that the gyroscope is experiencing a large angular velocity due to external input of high angular acceleration or a malfunction. Without intervention, the fiber optic gyroscope cannot recover automatically, potentially leading to closed-loop control failure. Therefore, it is necessary to classify the fiber optic gyroscope as abnormal and determine whether to reset it.

[0039] The second type is normal fluctuation of the fiber optic gyroscope, which lasts for a short period and can recover to normal on its own, without affecting the stable control of the spacecraft. Therefore, there is no need to judge the fiber optic gyroscope as abnormal.

[0040] For example, when the abnormal count threshold is 5, if the number of consecutive abnormal counts is greater than 5, it is considered that the fiber optic gyroscope output saturation is caused by the first reason, and it needs to be determined as abnormal saturation and step 104 should be executed.

[0041] If the absolute value of the output data of the fiber optic gyroscope has been greater than the saturation value twice in a row, but the absolute value of the output data is less than the saturation value on the third time, then the output saturation of the fiber optic gyroscope is considered to be caused by the second reason, indicating that the fiber optic gyroscope is normal and is not judged as abnormal. The abnormal counts of the previous two times are then cleared to zero.

[0042] In some implementations, step 104 includes:

[0043] Determine whether the current cumulative number of resets of the fiber optic gyroscope is not less than the reset count threshold;

[0044] If so, the fiber optic gyroscope will not be restored, and its function enable flag will be set to the off state;

[0045] If not, the light source drive circuit is reset to remove the fiber optic gyroscope sensor from saturation and restore it to normal operation; and the current cumulative reset count is incremented by 1 to obtain the updated cumulative reset count.

[0046] In this embodiment, situations where a large angular velocity input from an external source causes a fiber optic gyroscope malfunction are infrequent. Therefore, frequent malfunctions and frequent resets will not occur. To prevent misdiagnosing a fault in the fiber optic gyroscope itself as a fault caused by a large angular velocity input, a reset threshold (e.g., 10 times) needs to be set. If the fiber optic gyroscope has already recovered 10 times, it indicates that the output malfunction is not caused by a large angular velocity input from an external source, but rather by a fault in the fiber optic gyroscope itself, and in this case, the fiber optic gyroscope should not be restored. Conversely, if the malfunction has not been resolved, it is assumed that a large angular velocity input from an external source is the cause, and the fiber optic gyroscope itself is not faulty; in this case, the fiber optic gyroscope needs to be restored to its normal state.

[0047] By employing the aforementioned method, this application can significantly improve the identification efficiency of abnormal saturation in fiber optic gyroscope output, reduce the false diagnosis rate, and make the system operation more stable. Furthermore, the self-recovery method described above can effectively desaturate the gyroscope product, enabling it to autonomously recover its function after an abnormal saturation occurs, thus ensuring system redundancy backup.

[0048] In some implementations, the system also includes transmitting the enable status of the fiber optic gyroscope and the accumulated reset count to ground equipment. This allows ground personnel to promptly understand the spacecraft's on-orbit status and make more accurate control decisions.

[0049] It should be noted that the exception count threshold and reset count threshold are determined according to user needs, and this application does not impose specific limitations.

[0050] like Figure 2 , Figure 3 As shown, this embodiment of the invention provides a device for determining and restoring abnormal saturation of the output of a fiber optic gyroscope sensor. The device embodiment can be implemented through software, hardware, or a combination of both. From a hardware perspective, as... Figure 2 The diagram shown is a hardware architecture diagram of a computing device containing a device for determining and restoring abnormal saturation of the output of a fiber optic gyroscope sensor, as provided in an embodiment of the present invention. (Except for...) Figure 2 In addition to the processor, memory, network interface, and non-volatile memory shown, the computing device in the embodiment may also include other hardware, such as a forwarding chip responsible for processing packets. Taking software implementation as an example, such as... Figure 3 As shown, a device in a logical sense is formed by the CPU of the computing device in which it is located reading the corresponding computer program from the non-volatile memory into the memory for execution.

[0051] Please refer to Figure 3 This invention provides a device for determining and restoring abnormal saturation of the output of a fiber optic gyroscope sensor. The device includes:

[0052] The monitoring unit 300 is used to monitor the current output data of the fiber optic gyroscope in response to a pre-set function enable flag in the fiber optic gyroscope sensor being in the on state.

[0053] The judgment unit 302 is used to determine whether the fiber optic gyroscope is abnormally saturated based on the relationship between the current output data and the set saturation value.

[0054] The determination unit 304 is used to determine whether to restore the fiber optic gyroscope based on its accumulated number of resets in response to abnormal saturation of the fiber optic gyroscope.

[0055] In some implementations, the determination unit 302 is used to perform the following operations:

[0056] S1: Determine if the absolute value of the current output data is greater than the saturation value; if yes, execute S2; otherwise, execute S3.

[0057] S2, increment the current anomaly count by 1, and determine whether the anomaly count after incrementing by 1 is greater than the anomaly count threshold; if yes, determine that the fiber optic gyroscope is abnormal; if no, proceed to S3.

[0058] S3 sets the current exception count to 0, judges the next output data, and returns to execute S1.

[0059] In some implementations, the determining unit 304 is used to perform the following operations:

[0060] Determine whether the current cumulative number of resets of the fiber optic gyroscope is not less than the reset count threshold;

[0061] If so, the fiber optic gyroscope will not be restored, and its function enable flag will be set to the off state;

[0062] If not, the light source drive circuit is reset to remove the fiber optic gyroscope sensor from saturation and restore it to normal operation; and the current cumulative reset count is incremented by 1 to obtain the updated cumulative reset count.

[0063] In some implementations, a transmission unit is also included for performing the following operations:

[0064] The function enable status and cumulative reset count of the fiber optic gyroscope are transmitted to the ground equipment.

[0065] It should be noted that the device for determining and restoring abnormal saturation of the fiber optic gyroscope sensor output provided in the above embodiments is only an example of the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the device for determining and restoring abnormal saturation of the fiber optic gyroscope sensor output provided in the above embodiments and the method embodiments for determining and restoring abnormal saturation of the fiber optic gyroscope sensor output belong to the same concept, and the specific implementation process is detailed in the method embodiments, which will not be repeated here.

[0066] Embodiments of this application also provide a computer device, please refer to... Figure 3 The computer device includes a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the at least one instruction, at least one program, code set or instruction set being loaded and executed by the processor to implement the method for determining and recovering abnormal saturation of the fiber optic gyroscope sensor output provided in the above-described method embodiments.

[0067] Embodiments of this application also provide a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the method for determining and recovering abnormal saturation of the fiber optic gyroscope sensor output provided in the above-described method embodiments.

[0068] Embodiments of this application also provide 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 executes the computer program, causing the computer device to perform the method for determining and recovering abnormal saturation of the fiber optic gyroscope sensor output as described in any of the above embodiments.

[0069] For ease of description, the above systems or devices are described separately as various modules or units based on their functions. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware components.

[0070] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0071] Finally, it should be noted that in this document, relational terms such as first, second, third, and fourth are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0072] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for determining and recovering abnormal saturation of an optical fiber gyroscope sensor output, characterized in that, The method includes: In response to a pre-set function enable flag in the fiber optic gyroscope sensor being in the on state, the current output data of the fiber optic gyroscope sensor is monitored. Based on the relationship between the current output data and the set saturation value, determine whether the fiber optic gyroscope sensor is abnormally saturated; In response to the abnormal saturation of the fiber optic gyroscope sensor, a determination is made as to whether to restore the fiber optic gyroscope sensor based on its cumulative number of resets; The step of determining whether the fiber optic gyroscope sensor is abnormally saturated based on the relationship between the current output data and the set saturation value includes: S1, determine whether the absolute value of the current output data is greater than the saturation value; if yes, then execute S2; if no, then execute S3. S2, increment the current anomaly count by 1, and determine whether the anomaly count after incrementing by 1 is greater than the anomaly count threshold; if yes, determine that the fiber optic gyroscope sensor is abnormal; if no, proceed to S3. S3 sets the current exception count to 0, judges the next output data, and returns to execute S1; The step of responding to abnormal saturation of the fiber optic gyroscope sensor and determining whether to restore the fiber optic gyroscope sensor based on its accumulated reset count includes: Determine whether the current cumulative number of resets of the fiber optic gyroscope sensor is not less than the reset count threshold; If so, the fiber optic gyroscope sensor will not be restored, and its function enable flag will be set to the off state; If not, the light source drive circuit is reset to remove the fiber optic gyroscope sensor from saturation and restore it to normal operation; and the current cumulative reset count is incremented by 1 to obtain the updated cumulative reset count.

2. The method of claim 1, wherein, It also includes transmitting the function enable flag status of the fiber optic gyroscope sensor and the cumulative number of resets to ground equipment.

3. A device for determining and recovering from abnormal saturation of an optical fiber gyroscope sensor output, characterized in that, The device includes: A monitoring unit is configured to monitor the current output data of the fiber optic gyroscope sensor in response to a pre-set function enable flag in the fiber optic gyroscope sensor being in the on state. The judgment unit is used to determine whether the fiber optic gyroscope sensor is abnormally saturated based on the relationship between the current output data and the set saturation value. A determining unit is used to determine whether to restore the fiber optic gyroscope sensor based on its accumulated number of resets in response to abnormal saturation of the fiber optic gyroscope sensor. The determination unit is used to perform the following operations: S1, determine whether the absolute value of the current output data is greater than the saturation value; if yes, then execute S2; if no, then execute S3. S2, increment the current anomaly count by 1, and determine whether the anomaly count after incrementing by 1 is greater than the anomaly count threshold; if yes, determine that the fiber optic gyroscope sensor is abnormal; if no, proceed to S3. S3 sets the current exception count to 0, judges the next output data, and returns to execute S1; The determining unit is used to perform the following operations: Determine whether the current cumulative number of resets of the fiber optic gyroscope sensor is not less than the reset count threshold; If so, the fiber optic gyroscope sensor will not be restored, and its function enable flag will be set to the off state; If not, the light source drive circuit is reset to remove the fiber optic gyroscope sensor from saturation and restore it to normal operation; and the current cumulative reset count is incremented by 1 to obtain the updated cumulative reset count.

4. The apparatus of claim 3, wherein, It also includes a transmission unit for performing the following operations: The function enable flag status of the fiber optic gyroscope sensor and the cumulative number of resets are transmitted to the ground equipment.

5. A computer device, comprising: The computer device 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 method according to any one of claims 1-2.

6. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the steps of the method described in any one of claims 1-2.

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