A gyro and accelerometer-based thruster on-orbit autonomous diagnosis method

Abstract

The present application relates to a kind of gyro and accelerometer-based thruster on-orbit autonomous diagnosis method, the thruster includes attitude control thruster and orbit control thruster, include the following steps: S1, based on gyro measurement information is carried out attitude control thruster autonomous diagnosis;S2, based on accelerometer measurement information is carried out orbit control thruster autonomous diagnosis;S3, based on thruster autonomous diagnosis result is carried out thruster reconstruction.The present application can be carried out program-controlled diagnosis to whether the thruster of aircraft is effective, and according to the diagnosis result is carried out thruster autonomous reconstruction, to make the safety of aircraft on orbit while completing task.

Description

Technical Field

[0001] This invention relates to the field of spacecraft guidance and control (GNC) system control technology, specifically to a thruster autonomous diagnosis method based on gyroscopes and accelerometers. Background Technology

[0002] The thruster is the most critical component for an aircraft to perform its mission, and the remaining amount of propellant in the thruster determines whether the aircraft can complete the mission. Therefore, in order to ensure that the aircraft can autonomously and reliably complete its mission while maintaining its on-orbit safety, it is necessary to perform programmed diagnostics on the thruster's effectiveness and to autonomously reconfigure it based on the diagnostic results.

[0003] Given that the aircraft's mass characteristics, control torque, and control thrust are already determined, the measurements from the gyroscope and accelerometer can reflect whether the thruster is functioning correctly. Therefore, assuming the gyroscope and accelerometer are effective, combining the gyroscope measurement information with attitude control commands, the accelerometer measurement information, and the thruster output pulse width can indicate whether the thruster is functioning correctly. Summary of the Invention

[0004] The purpose of this invention is to provide an on-orbit autonomous diagnostic method for thrusters based on gyroscopes and accelerometers. This method can perform programmed diagnostics on whether the thruster is effective and perform autonomous reconfiguration based on the diagnostic results, thereby enabling the spacecraft to maintain its on-orbit safety while autonomously and reliably completing its mission.

[0005] To achieve the above objectives, this invention provides an on-orbit autonomous diagnostic method for a thruster based on gyroscopes and accelerometers, wherein the thruster includes an attitude control thruster and an orbit control thruster, and includes the following steps:

[0006] S1. Autonomous diagnosis of attitude control thruster based on gyroscope measurement information;

[0007] S2. Autonomous diagnosis of the orbital control thruster based on accelerometer measurement information;

[0008] S3. Thrust reconfiguration based on thruster autonomous diagnostic results.

[0009] Furthermore, step S1 includes the following steps:

[0010] S11. Determine if the posture gyroscope is valid; if yes, continue running and go to S12; if no, go to S2.

[0011] The conditions for determining whether a gyroscope is effective are: when communication is effective, the absolute value of the difference between the periods of the three-axis angular velocities before and after are all less than the set threshold, and at least two sets of gyroscope self-test data are consistent with each other; the satellite's roll axis, pitch axis, and yaw axis are all equipped with corresponding gyroscope heads, which are used to measure the angular velocities of the roll axis, pitch axis, and yaw axis, respectively.

[0012] S12, Three-axis cyclic calculation of jet integral;

[0013] S13, Three-axis cyclic judgment, based on the gyroscope measurement information of each axis, determine whether the attitude control thruster of each axis is effective;

[0014] The three-axis cycle refers to the sequential determination of the roll axis thruster, pitch axis thruster, and yaw axis thruster of the satellite within the same cycle.

[0015] Furthermore, in S12, if there is additional interference in the current cycle, the integral quantity of the three-axis attitude control jet in the current cycle and the integral quantity of the three-axis attitude control jet in the previous cycle are cleared; if the polarity of the integral quantity of the three-axis attitude control command jet in the current cycle and the three-axis attitude control jet in the previous cycle changes, the integral quantity of the three-axis attitude control jet in the current cycle is cleared to 0; if the integral quantity of the three-axis attitude control command jet in the current cycle is not less than the minimum attitude control pulse width, the integral quantity of the three-axis attitude control jet in the current cycle is accumulated.

[0016] S_Prop(j)k=S_Prop(j)k-1+T_ACP_out(j)k,

[0017] Where k represents the current cycle, k-1 represents the previous cycle, j corresponds to the roll axis, pitch axis, and yaw axis respectively, T_ACP_out(j)k is the three-axis attitude control command jet in the current cycle, S_Prop(j)k-1 is the three-axis attitude control jet integral in the previous cycle, and S_Prop(j)k is the three-axis attitude control jet integral in the current cycle.

[0018] Furthermore, S13 includes the following steps:

[0019] S131. When the three-axis attitude control jet integral is 0 in the current cycle, record the angular velocity of that axis in the current cycle.

[0020] S132. If the absolute value of the three-axis attitude control jet integral in the current cycle is greater than a set threshold, calculate the angular velocity change in the current cycle and clear the three-axis attitude control jet integral in the current cycle. The angular velocity change is:

[0021] delt_wbi(j)=GYRO_wbi(j)-GYRO_wbi_L(j),

[0022] Where delt_wbi(j) is the change in angular velocity in the current cycle, GYRO_wbi(j) is the angular velocity in the current cycle, and GYRO_wbi_L(j) is the angular velocity in the previous cycle.

[0023] S133. If the polarity of the change in angular velocity in the current cycle is opposite to the polarity of the integral of the three-axis attitude control jet, or the absolute value of the change in angular velocity is less than 0.5*Δω(j), set the invalid flag of the attitude control thruster of the gyroscope on that axis; if the polarity of the change in angular velocity in the current cycle is the same as the polarity of the integral of the three-axis attitude control jet, and the absolute value of the change in angular velocity is greater than 0.8*Δω(j), set the valid flag of the attitude control thruster of the gyroscope on that axis.

[0024] In S132, the threshold t(j) is the threshold for judging the three-axis attitude control jet integral quantity:

[0025]

[0026] Where J(j) are the principal inertia of the three axes, Δω(j) are the theoretical angular velocity threshold of the three axes, and T(j) are the jet control torque of the three axes.

[0027] Furthermore, S2 includes the following steps:

[0028] S20. Determine if the spacecraft is under orbital control; if yes, continue operation and proceed to S21; if no, proceed to S3.

[0029] S21. Determine if the accelerometer is valid; if yes, continue running and go to S22; if no, go to S3.

[0030] The conditions for determining whether an accelerometer is valid are: when communication is valid, the absolute value of the triaxial acceleration does not exceed the set threshold, and at least two sets of accelerometers have consistent self-test data.

[0031] The satellite is equipped with corresponding accelerometer heads for its roll axis, pitch axis, and yaw axis, which are used to measure the acceleration of the roll axis, pitch axis, and yaw axis, respectively.

[0032] S22. Based on the thrust pulse width output by the orbit control thruster and the satellite mass, calculate the three-axis theoretical acceleration of the orbit control thruster;

[0033] S23. Determine the theoretical acceleration threshold used to judge the orbit control thruster;

[0034] Among them, when the absolute value of the theoretical acceleration is greater than the set minimum threshold, the orbital control thruster is judged based on the actual measured value of the acceleration;

[0035] S24. Three-axis cyclic judgment: determine whether the accelerometer of each axis judges the effective flag of the rail control thruster.

[0036] Furthermore, in S22, the theoretical triaxial acceleration of the orbital control thruster for:

[0037]

[0038] in, Let Tout1, Tout2, Tout be the thrust of n orbital control thrusters. n Let m be the thrust pulse width of n orbital control thrusters in one control cycle, m be the satellite mass, and T be the control cycle.

[0039] Furthermore, in S24, when the measured value of each axis accelerometer is between 0.7 and 1.3 times the theoretical acceleration, and the difference between the measured value and the theoretical acceleration of each axis accelerometer is less than a set threshold, the accelerometer of that axis is set to the valid track control thruster flag; otherwise, the accelerometer of that axis is set to the invalid track control thruster flag.

[0040] Furthermore, in S3, thruster reconfiguration based on thruster autonomous diagnostic results includes two reconfiguration strategies:

[0041] S31, Attitude control thruster reconfiguration strategy: If the gyroscope determines that the attitude control thruster of the X-axis, Y-axis, or Z-axis is invalid, then the invalid attitude control thruster is replaced by the backup attitude control thruster.

[0042] S32, Track control thruster reconfiguration strategy: If the accelerometer determines that the track control thruster of the X-axis, Y-axis, or Z-axis is invalid, then the invalid track control thruster is replaced by a backup track control thruster.

[0043] In summary, the on-orbit autonomous diagnostic method for thrusters based on gyroscopes and accelerometers provided by this invention can perform program-controlled diagnostics on whether the thrusters of an aircraft are effective, and autonomously reconfigure the thrusters based on the diagnostic results, thereby enabling the aircraft to maintain on-orbit safety while completing its mission. Attached Figure Description

[0044] Figure 1 This is a flowchart of the on-orbit autonomous diagnosis method for thrusters based on gyroscopes and accelerometers in this invention.

[0045] Figure 2 This is a flowchart of the thruster autonomous diagnosis method based on gyroscope measurement in this invention;

[0046] Figure 3 This is a flowchart of the thruster autonomous diagnosis method based on accelerometer measurement in this invention. Detailed Implementation

[0047] The following combination Figures 1-3The technical content, structural features, objectives and effects of the present invention will be described in detail through preferred embodiments.

[0048] like Figure 1 As shown, this figure is a flowchart of an on-orbit autonomous diagnostic method for a thruster based on a gyroscope and accelerometer according to the present invention. The thruster includes an attitude control thruster and an orbit control thruster; therefore, the thruster is also referred to as an attitude and orbit control thruster. Furthermore, in this embodiment, a satellite is used as a typical type of spacecraft for detailed description. The method includes:

[0049] S1. Autonomous diagnosis of attitude control thruster based on gyroscope measurement information;

[0050] S2. Autonomous diagnosis of the orbital control thruster based on accelerometer measurement information;

[0051] S3. Thrust reconfiguration based on thruster autonomous diagnostic results.

[0052] In S1, such as Figure 2 As shown, the specific steps include:

[0053] S11. Determine if the gyroscope is working; if yes, continue running and go to S12; if no, go to S2.

[0054] The conditions for determining whether a gyroscope is effective are: when communication is effective, the absolute value of the difference between the periods before and after the three-axis angular velocities is less than the set threshold (the threshold depends on the control torque and the spindle inertia), and at least two sets of gyroscope self-test data are consistent with each other.

[0055] Furthermore, the three axes refer to the satellite's roll axis (X-axis), pitch axis (Y-axis), and yaw axis (Z-axis), respectively. Each axis is equipped with a corresponding gyroscope to measure the angular velocities of the roll, pitch, and yaw axes. Therefore, the difference in the period of the three-axis angular velocities specifically refers to: the difference in the period of the roll angular velocity measured by the roll axis gyroscope, the difference in the period of the pitch angular velocity measured by the pitch axis gyroscope, and the difference in the period of the yaw angular velocity measured by the yaw axis gyroscope.

[0056] S12, Three-axis cyclic calculation of jet integral.

[0057] If there are additional disturbances in this cycle (including satellite separation, payload release, orbit control, etc.), clear the three-axis attitude control jet integral S_Prop(j)k of the current cycle and the three-axis attitude control jet integral S_Prop(j)k-1 of the previous cycle, where k represents the current cycle, k-1 represents the previous cycle, and j corresponds to the roll axis, pitch axis, and yaw axis, respectively.

[0058] If the polarity of the current cycle three-axis attitude control command jet T_ACP_out(j)k and the previous cycle three-axis attitude control jet integral S_Prop(j)k-1 changes, the current cycle three-axis attitude control jet integral S_Prop(j)k is cleared to 0.

[0059] If the current cycle three-axis attitude control command jet T_ACP_out(j)k is not less than the minimum attitude control pulse width, the current cycle three-axis attitude control jet integral S_Prop(j)k is accumulated, with the specific formula as follows:

[0060] S_Prop(j)k=S_Prop(j)k-1+T_ACP_out(j)k

[0061] Where T_ACP_out(j)k is the current cycle three-axis attitude control command jet, S_Prop(j)k-1 is the three-axis attitude control jet integral of the previous cycle, and S_Prop(j)k is the current cycle three-axis attitude control jet integral.

[0062] S13. Three-axis cyclic judgment: Based on the gyroscope measurement information of each axis, determine whether the attitude control thruster of each axis is valid; wherein, the three-axis cyclic means that the roll axis thruster, pitch axis thruster and yaw axis thruster are judged sequentially for the satellite in the same cycle.

[0063] Step S13 specifically includes the following steps for each axis gyroscope:

[0064] S131. When the three-axis attitude control jet integral S_Prop(j) of the current cycle is 0, record the angular velocity GYRO_wbi(j) of the current cycle of that axis, where j is the roll axis, pitch axis, and yaw axis in turn.

[0065] S132. If the absolute value of the three-axis attitude control jet integral S_Prop(j) in the current cycle is greater than the set threshold t(j), calculate the angular velocity change delt_wbi(j) in the current cycle, and clear the three-axis attitude control jet integral S_Prop(j) in the current cycle; the formula for calculating the angular velocity change is:

[0066] delt_wbi(j)=GYRO_wbi(j)-GYRO_wbi_L(j)

[0067] Where GYRO_wbi(j) is the angular velocity of the current cycle, and GYRO_wbi_L(j) is the angular velocity of the previous cycle.

[0068] Wherein, the threshold t(j) is the judgment threshold of the designed three-axis attitude control jet integral S_Prop(j), which is calculated by the following formula:

[0069]

[0070] Where j represents the roll axis, pitch axis, and yaw axis respectively; t(j) is the theoretical judgment threshold of the jet integral; J(j) are the principal inertia of the three axes, which are calculated in real time by the satellite based on the changes in fuel consumption; Δω(j) is the designed theoretical change angular velocity threshold of the three axes, in ° / s, which is designed to be 2° / s in this embodiment; T(j) is the jet control torque of the three axes.

[0071] S133. If the polarity of the change in angular velocity delt_wbi(j) in the current cycle is opposite to the polarity of the three-axis attitude control jet integral S_Prop(j), or the absolute value of the change in angular velocity delt_wbi(j) is less than 0.5*Δω(j), set the attitude control thruster invalid flag of the gyroscope on that axis.

[0072] If the polarity of the angular velocity change delt_wbi(j) in the current cycle is the same as the polarity of the three-axis attitude control jet integral S_Prop(j), and the absolute value of the angular velocity change delt_wbi(j) is greater than 0.8*Δω(j), then set the effective flag of the attitude control thruster of the gyroscope on that axis.

[0073] In S2, such as Figure 3 As shown, the specific steps include:

[0074] S20. Determine if the spacecraft is under orbital control; if yes, continue operation and proceed to S21; if no, proceed to S3.

[0075] S21. Determine if the accelerometer of the track control thruster is valid; if yes, continue running and go to S22; if no, go to S3.

[0076] The condition for determining whether the accelerometer of the orbital control thruster is valid is: when communication is valid, the absolute value of the three-axis acceleration does not exceed the set threshold 'a'. max,j (This threshold depends on the control force and satellite mass), and at least two sets of accelerometers must have consistent self-test data.

[0077] Furthermore, the satellite is equipped with corresponding accelerometers for its roll axis, pitch axis, and yaw axis, respectively, to measure the acceleration along these axes. Therefore, the three-axis acceleration specifically refers to: the roll acceleration measured by the roll axis accelerometer, the pitch acceleration measured by the pitch axis accelerometer, and the yaw acceleration measured by the yaw axis accelerometer.

[0078] If the maximum thrust of each axis of the satellite is F max,j Then a max,j The design can be as follows:

[0079]

[0080] Where k is the margin design, which can generally be designed to be 1.3 times, and can be adjusted according to the actual situation; m is the mass of the satellite.

[0081] S22. Based on the thrust pulse width output by the orbit control thruster and the satellite mass, calculate the three-axis theoretical acceleration of the orbit control thruster.

[0082] The specific formula is as follows:

[0083]

[0084] in, Let Tout1, Tout2, Tout be the thrust of n orbital control thrusters. n Let m be the thrust pulse width of n orbital control thrusters in one control cycle, m be the satellite mass, and T be the control cycle.

[0085] S23. Determine the theoretical acceleration threshold used to judge the orbital control thruster.

[0086] To avoid misjudgment, when the absolute value of the theoretical acceleration exceeds the set minimum threshold 'a'... min At that time, the orbital control thruster is judged based on the actual measured value of acceleration.

[0087] Where, threshold a min The design can be based on the measurement error of the accelerometer, assuming the measurement error is a. err Then a min =k*a err , where k is the design margin, which is set to 2 in this embodiment, but can also be adjusted as needed.

[0088] S24. Three-axis cyclic judgment: determine whether the accelerometer of each axis judges the effective flag of the rail control thruster.

[0089] When the measured values ​​of each axis accelerometer are between 0.7 and 1.3 times the theoretical acceleration, and the difference between the measured values ​​of each axis accelerometer and the theoretical acceleration is less than a set threshold (in this embodiment, the threshold is 0.01 m / s), the accelerometer of that axis is set to the valid flag of the track control thruster.

[0090] Otherwise, set the accelerometer on that axis to indicate that the orbital control thruster is invalid.

[0091] In S3, thruster reconstruction is performed based on the thruster's autonomous diagnostic results, which is divided into attitude control thruster reconstruction and orbit control thruster reconstruction.

[0092] S31, Attitude control thruster reconfiguration strategy, specifically:

[0093] X-axis attitude control thruster sequence: Tuili_attx =[x att,p1 ... x att,pn x att,n1 ... x att,nn ],

[0094] Y-axis attitude control thruster sequence: Tuili_att y =[y att,p1 ... y att,pn y att,n1 ... y att,nn ],

[0095] Z-axis attitude control thruster sequence: Tuili_att z =[z att,p1 ... z att,pn z att,n1 ... z att,nn ],

[0096] Where the X-axis is the roll axis, the Y-axis is the pitch axis, and the Z-axis is the yaw axis; x att,p1 …x att,pn For n attitude control thrusters along the +X axis (positive X-axis), x att,n1 …x att,nn n attitude control thrusters along the -X axis (negative X-axis direction); y att,p1 …y att,pn For n attitude control thrusters along the +Y axis, y att,n1 …y att,nn For n attitude control thrusters along the -Y axis; z att,p1 …z att,pn For n attitude control thrusters along the +Z axis, z att,n1 …z att,nn There are n attitude control thrusters along the -Z axis.

[0097] If the gyroscope determines that the attitude control thruster of the X-axis, Y-axis, or Z-axis is invalid, then the invalid attitude control thruster is replaced with a backup attitude control thruster.

[0098] S32, Rail Control Thrust Reconfiguration Strategy.

[0099] X-axis orbital control thruster sequence: Tuili_orb x =[x orb,p1 … x orb,pn x orb,n1 … x orb,nn ],

[0100] Y-axis orbital control thruster sequence: Tuili_orb y =[y orb,p1 … y orb,pn y orb,n1… y orb,nn ],

[0101] Z-axis orbital control thruster sequence: Tuili_orb z =[z orb,p1 … z orb,pn z orb,n1 … z orb,nn ],

[0102] Where, x orb,p1 ...x orb,pn For n orbital control thrusters along the +X axis, x orb,n1 ...x orb,nn For n orbital control thrusters along the -X axis; y orb,p1 ...y orb,pn For n orbital control thrusters along the +Y axis, y orb,n1 ...y orb,nn For n orbital control thrusters along the Y-axis; z orb,p1 ...z orb,pn For n orbital control thrusters along the +Z axis, z orb,n1 ...z orb,nn There are n orbital control thrusters for the -Z axis.

[0103] If the accelerometer determines that the orbit control thruster of the X-axis, Y-axis, or Z-axis is invalid, then the invalid orbit control thruster is replaced with a backup orbit control thruster.

[0104] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A method for on-orbit autonomous diagnosis of a thruster based on gyroscopes and accelerometers, wherein the thruster comprises an attitude control thruster and an orbit control thruster, characterized in that, Includes the following steps: S1. Autonomous diagnosis of attitude control thruster based on gyroscope measurement information; S2. Autonomous diagnosis of the orbital control thruster based on accelerometer measurement information; S3. Thrust reconfiguration based on thruster autonomous diagnostic results; S1 includes the following steps: S11. Determine if the gyroscope is working; if yes, continue running and go to S12; if no, go to S2. The conditions for determining whether a gyroscope is effective are: when communication is effective, the absolute value of the difference between the periods of the three-axis angular velocities before and after are all less than the set threshold, and at least two sets of gyroscope self-test data are consistent with each other; among them, the satellite's roll axis, pitch axis, and yaw axis are all equipped with corresponding gyroscope heads, which are used to measure the angular velocities of the roll axis, pitch axis, and yaw axis, respectively. S12, Three-axis cyclic calculation of jet integral; S13, Three-axis cyclic judgment, based on the gyroscope measurement information of each axis, determines whether the attitude control thruster of each axis is effective; The three-axis cycle refers to the sequential determination of the roll axis thruster, pitch axis thruster, and yaw axis thruster for the satellite within the same cycle. S13 includes the following steps: S131. When the three-axis attitude control jet integral is 0 in the current cycle, record the angular velocity of that axis in the current cycle. S132. If the absolute value of the three-axis attitude control jet integral in the current cycle is greater than the set threshold... Calculate the change in angular velocity for the current cycle and clear the three-axis attitude control jet integral for the current cycle. The change in angular velocity is: delt_wbi(j) = GYRO_wbi(j) - GYRO_wbi_L(j), Where delt_wbi(j) is the change in angular velocity in the current cycle, GYRO_wbi(j) is the angular velocity in the current cycle, and GYRO_wbi_L(j) is the angular velocity in the previous cycle. S133. If the polarity of the change in angular velocity in the current cycle is opposite to the polarity of the integral of the three-axis attitude control jet, or the absolute value of the change in angular velocity is less than 0.5* Set the attitude control thruster invalid flag on the gyroscope of that axis; if the polarity of the angular velocity change in the current cycle is the same as the polarity of the integral of the three-axis attitude control jet, and the absolute value of the angular velocity change is greater than 0.8* The gyroscope on this axis is set to indicate the effective position of the attitude control thruster; among them, The threshold for the changing angular velocity in triaxial theory.

2. The on-orbit autonomous diagnostic method for a thruster based on gyroscopes and accelerometers as described in claim 1, characterized in that, In S12, If there is additional interference in this cycle, clear the three-axis attitude control jet integral of the current cycle and the three-axis attitude control jet integral of the previous cycle. If the polarity of the three-axis attitude control jet injection in the current cycle changes from that in the previous cycle, the three-axis attitude control jet injection integral will be cleared to 0. If the jet propulsion command for the current three-axis attitude control cycle is not less than the minimum attitude control pulse width, the integral of the jet propulsion for the current three-axis attitude control cycle will be accumulated: S_Prop(j)k= S_Prop(j)k-1+ T_ACP_out(j)k, Where k represents the current cycle, k-1 represents the previous cycle, j corresponds to the roll axis, pitch axis, and yaw axis respectively, T_ACP_out(j)k is the three-axis attitude control command jet in the current cycle, S_Prop(j)k-1 is the three-axis attitude control jet integral in the previous cycle, and S_Prop(j)k is the three-axis attitude control jet integral in the current cycle.

3. The on-orbit autonomous diagnostic method for a thruster based on gyroscopes and accelerometers as described in claim 1, characterized in that, In S132, the threshold The threshold for judging the jet integral quantity of three-axis attitude control: ， Where j corresponds to the roll axis, pitch axis, and yaw axis, respectively. These are the principal moments of inertia of the three axes. The threshold for varying angular velocity in triaxial theory. This refers to the jet control torque for the three axes.

4. The on-orbit autonomous diagnostic method for a thruster based on a gyroscope and accelerometer as described in claim 1, characterized in that, S2 includes the following steps: S20. Determine if the spacecraft is under orbital control; if yes, continue operation and proceed to S21; if no, proceed to S3. S21. Determine if the accelerometer is valid; if yes, continue running and go to S22; if no, go to S3. The conditions for determining whether an accelerometer is valid are: when communication is valid, the absolute value of the three-axis acceleration does not exceed the set threshold, and at least two sets of accelerometers have consistent self-test data; among them, the satellite's roll axis, pitch axis, and yaw axis are all equipped with corresponding accelerometer heads, which are used to measure the acceleration of the roll axis, pitch axis, and yaw axis, respectively. S22. Based on the thrust pulse width output by the orbital control thruster and the satellite mass, calculate the three-axis theoretical acceleration of the orbital control thruster. ; S23. Determine the theoretical acceleration threshold used to judge the orbit control thruster; When the absolute value of the theoretical acceleration is greater than the set minimum threshold, the orbital control thruster is judged based on the actual measured value of the acceleration. S24. Three-axis cyclic judgment: determine whether the acceleration of each axis is a valid indicator of the track control thruster.

5. The on-orbit autonomous diagnostic method for a thruster based on a gyroscope and accelerometer as described in claim 4, characterized in that, In S22, the theoretical triaxial acceleration of the orbital control thruster for: ， in, , , For the thrust of n orbital control thrusters, , , Let m be the thrust pulse width of n orbital control thrusters in one control cycle, m be the satellite mass, and T be the control cycle.

6. The on-orbit autonomous diagnostic method for a thruster based on a gyroscope and accelerometer as described in claim 4, characterized in that, In S24, when the measured value of each axis accelerometer is between 0.7 and 1.3 times the theoretical acceleration, and the difference between the measured value and the theoretical acceleration of each axis accelerometer is less than a set threshold, the accelerometer of that axis is set to the valid track control thruster flag; otherwise, the accelerometer of that axis is set to the invalid track control thruster flag.

7. The on-orbit autonomous diagnostic method for a thruster based on a gyroscope and accelerometer as described in claim 1, characterized in that, In S3, thruster reconfiguration is performed based on the thruster's autonomous diagnostic results, including two reconfiguration strategies: S31, Attitude control thruster reconfiguration strategy: If the gyroscope determines that the attitude control thruster of the X-axis, Y-axis, or Z-axis is invalid, then the backup attitude control thruster is used to replace the invalid attitude control thruster. S32, Track control thruster reconfiguration strategy: If the accelerometer determines that the track control thruster of the X-axis, Y-axis, or Z-axis is invalid, then the invalid track control thruster is replaced by a backup track control thruster.

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