Optimization method and device for online self-diagnosis of arbitrary configuration gyro

Abstract

The application relates to an online self-diagnosis optimization method and device for a gyroscope with an arbitrary configuration. The method comprises the following steps: determining a plurality of gyroscope groups from a first number of gyros of a gyroscope sensor in a combined manner; traversing the gyroscope groups, and judging whether three gyros in each traversed gyroscope group are singular; if yes, the gyroscope group is not processed, and the next gyroscope group is traversed; if no, other gyros except the gyroscope group in the first number of gyros are traversed in turn, a balance equation of each traversed gyroscope and the three gyros in the gyroscope group is constructed, the three gyros in the gyroscope group and the gyroscope are scored based on the balance equation, and the score of each gyroscope is recorded and accumulated; after each gyroscope except the gyroscope group is traversed, the next gyroscope group is traversed; and gyros with a total score lower than a preset value are determined as to-be-diagnosed gyros. The application can perform online diagnosis on gyros with an arbitrary configuration, and has strong universality.

Description

Technical Field

[0001] This invention relates to the field of fault diagnosis technology, and in particular to an online self-diagnosis optimization method and apparatus for arbitrary configuration gyroscopes. Background Technology

[0002] Gyroscope sensors are used to measure the angular velocity of a satellite relative to an inertial reference frame and are a crucial component in satellite attitude measurement. Their reliability directly affects the overall performance of the satellite. However, due to varying functional requirements and installation constraints among different satellites, the number of gyroscopes configured varies, and their configurations are diverse. Therefore, designing self-diagnostic algorithms for gyroscopes with different configurations requires specific design considerations, and there is a lack of a self-diagnostic optimization algorithm adaptable to gyroscopes of arbitrary configurations.

[0003] Therefore, there is an urgent need for an online self-diagnosis and optimization method and device for arbitrary configuration gyroscopes to solve the above-mentioned technical problems. Summary of the Invention

[0004] This invention provides an online self-diagnosis and optimization method and apparatus for gyroscopes of arbitrary configurations, which can perform online diagnosis of gyroscopes of arbitrary configurations and has strong versatility.

[0005] In a first aspect, embodiments of the present invention provide an online self-diagnostic optimization method for gyroscopes of arbitrary configurations, comprising:

[0006] Multiple gyroscope groups are determined from a first number of gyroscope sensors in a combination manner, each gyroscope group consisting of three different gyroscopes, and the first number is not less than four;

[0007] Iterate through the gyroscope groups, and for each gyroscope group iterates through, determine whether the three gyroscopes in the gyroscope group are singular;

[0008] If so, then do not process that gyroscope group, and proceed to the next gyroscope group;

[0009] If not, then sequentially traverse all the gyroscopes in the first number of gyroscopes except for the gyroscope group. For each gyroscope traversed, construct a balance equation for the gyroscope and the three gyroscopes in the gyroscope group. Based on the balance equation, score the gyroscope and the three gyroscopes in the gyroscope group, record and accumulate the score of each gyroscope. After traversing every gyroscope except for the gyroscope group, traverse the next gyroscope group.

[0010] Gyroscopes with a total score lower than the preset value are identified as gyroscopes to be diagnosed.

[0011] Secondly, embodiments of the present invention also provide an online self-diagnosis and optimization device for arbitrary configuration gyroscopes, comprising:

[0012] A gyroscope group determination module is used to determine multiple gyroscope groups from a first number of gyroscopes in a combination manner, wherein each gyroscope group consists of three different gyroscopes and the first number is not less than four.

[0013] The scoring module is used to traverse the gyroscope groups and perform the following operations on each traversed gyroscope group: determine whether the three gyroscopes in the gyroscope group are singular; if so, do not process the gyroscope group and traverse the next gyroscope group; if not, traverse the other gyroscopes in the first number of gyroscopes except the gyroscope group in turn, construct a balance equation for each gyroscope and the three gyroscopes in the gyroscope group, score the gyroscope and the three gyroscopes in the gyroscope group based on the balance equation, record and accumulate the score of each gyroscope; after traversing each gyroscope except the gyroscope group, traverse the next gyroscope group;

[0014] The diagnostic module is used to identify gyroscopes with a total score lower than a preset value as gyroscopes to be diagnosed.

[0015] Thirdly, embodiments of the present invention also provide an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the method described in any embodiment of this specification.

[0016] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the methods described in any embodiment of this specification.

[0017] This invention provides an online self-diagnosis optimization method and apparatus for gyroscopes of arbitrary configurations. By determining multiple gyroscope groups, and sequentially constructing balance equations between three gyroscopes in each non-singular gyroscope group and the other gyroscopes, each gyroscope is scored based on the calculation results of the balance equations, thus obtaining a total score for each gyroscope. The probability of each gyroscope needing diagnosis can be determined based on its total score. This application identifies gyroscopes with total scores below a preset value as those requiring diagnosis, enabling online self-diagnosis of gyroscopes of arbitrary configurations and timely identification of faulty gyroscopes. Therefore, this invention features a simple algorithm, can perform online diagnosis of gyroscopes of arbitrary configurations, and has strong versatility. 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 schematic diagram of the online self-diagnosis and optimization method for arbitrary configuration gyroscopes provided in an embodiment of the present invention;

[0020] Figure 2 This is an axial view of a 3s gyroscope provided in an embodiment of the present invention;

[0021] Figure 3 This is a projection diagram of a 3s gyroscope in the XY plane according to an embodiment of the present invention;

[0022] Figure 4 This is a hardware architecture diagram of an electronic device provided in an embodiment of the present invention;

[0023] Figure 5 This is a structural diagram of an online self-diagnosis and optimization device for an arbitrary configuration gyroscope provided in an embodiment of the present invention. Detailed Implementation

[0024] 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.

[0025] Please refer to Figure 1 This invention provides an online self-diagnosis and optimization method for gyroscopes of arbitrary configurations, the method comprising:

[0026] Step 100: Determine multiple gyroscope groups from a first number of gyroscope sensors in a combination manner, wherein each gyroscope group consists of three different gyroscopes, and the first number is not less than four;

[0027] Step 102: Traverse the gyroscope groups. For each gyroscope group, determine whether the three gyroscopes in the group are singular. If so, do not process the gyroscope group and traverse the next gyroscope group. If not, traverse the first number of gyroscopes except for the gyroscope group in sequence. For each gyroscope traversed, construct a balance equation for the gyroscope and the three gyroscopes in the gyroscope group. Based on the balance equation, score the gyroscope and the three gyroscopes in the gyroscope group, record and accumulate the score of each gyroscope. After traversing each gyroscope except for the gyroscope group, traverse the next gyroscope group.

[0028] Step 104: Gyroscopes with a total score lower than the preset value are identified as gyroscopes to be diagnosed.

[0029] In this embodiment, multiple gyroscope groups are determined, and three gyroscopes from each non-singular gyroscope group are sequentially used to construct balance equations with other gyroscopes. Each gyroscope is scored based on the calculation results of the balance equations, resulting in a total score for each gyroscope. The probability of each gyroscope needing diagnosis can be determined based on its total score. This application identifies gyroscopes with total scores below a preset value as those requiring diagnosis, enabling online self-diagnosis of gyroscopes of arbitrary configurations and timely identification of faulty gyroscopes. Therefore, the algorithm of this invention is simple, can perform online diagnosis of gyroscopes of arbitrary configurations, and has strong versatility.

[0030] The following description Figure 1 The execution method of each step is shown.

[0031] First, for step 100, multiple gyroscope groups are determined from a first number of gyroscopes in a combination manner, each gyroscope group consisting of three different gyroscopes, and the first number is not less than four.

[0032] In this step, the gyroscope configuration in the gyroscope sensor can be arbitrary, such as a single set of 3+1s gyroscopes; a combination of one set of 3+1s gyroscopes and any n gyroscopes, including cases with parallel axes; or multiple configurations of any three non-coplanar gyroscopes, such as a 6s or 9s gyroscope configuration, where 's' represents the skew axis. Assuming the initial quantity is six, the combination method can determine... Each gyroscope is grouped together. This arrangement ensures that no gyroscope is missed, guaranteeing accurate diagnosis.

[0033] Then, for step 102, when traversing the gyroscope group, the optimal configuration of the gyroscope group is traversed first, the optimal configuration being determined based on the mounting vector matrix of each gyroscope on the gyroscope sensor.

[0034] In this step, when the gyroscope sensor is a 3+1s gyroscope, the optimal configuration is a group of three gyroscopes located on the X, Y, and Z axes respectively. Of course, for different sensor configurations, the gyroscope that is easiest to measure the satellite's three-axis attitude is determined as the optimal configuration.

[0035] In some implementations, determining whether the three gyroscopes in the gyroscope group are singular includes:

[0036] A pre-determined singularity exclusion table is invoked, which includes at least one singular gyroscope group consisting of three gyroscopes, wherein the three gyroscopes in the singular gyroscope group cannot complete the measurement of the satellite's three-axis attitude; the singularity exclusion table is determined based on the mounting vector matrix of each gyroscope;

[0037] Determine whether the three gyroscopes in the gyroscope group are the same as the three gyroscopes in any of the singular gyroscope groups; if so, determine that the three gyroscopes in the gyroscope group are singular; if not, determine that the three gyroscopes in the gyroscope group are not singular.

[0038] In this step, since singular gyroscopes cannot perform three-axis attitude measurements on the satellite, they need to be removed beforehand to avoid wasting computer resources. Once the gyroscope sensors are determined, the installation position of each gyroscope is also determined. Therefore, the singular logic table can be implemented on the ground and bound to the onboard software, thus not increasing the computational load on the onboard processor.

[0039] Finally, regarding step 104, the gyroscope and the three gyroscopes in the group are scored based on the balance equation, including:

[0040] Calculate the balance equation and, based on the calculation results, determine whether the gyroscope and the three gyroscopes in the gyroscope group are related to the balance equation.

[0041] If not, then the top will not be scored;

[0042] If so, the score of the gyroscope is determined based on the quality of the calculation results. The calculation results include whether the balance equation is satisfied or not. When the balance equation is satisfied, the gyroscope gets a positive score; when the balance equation is not satisfied, the gyroscope gets a negative score.

[0043] In this step, the user can determine the scoring criteria as needed. For example, a gyroscope that satisfies the balance equation receives +1 point, one that does not satisfy it receives -1 or -2 points, and one that is unrelated to the balance equation receives no score. Furthermore, the balance equation is a technique well-known to those skilled in the art, and will not be described in detail here.

[0044] Furthermore, in step 104, the preset value can be determined according to the user's needs, and this application does not limit its specific value.

[0045] In some implementations, the method further includes using the gyroscope group that first satisfies the balance equation as the attitude-fixing gyroscope group for measuring the satellite's three-axis attitude. Steps 100, 102, and 104 are executed once per control cycle; therefore, the gyroscopes can be diagnosed in each control cycle, and the attitude-fixing gyroscope group can be updated in real time based on the diagnosis results, ensuring the accuracy of the measurement points.

[0046] To better understand this solution, the following will use... Figure 2 and Figure 3 The following explanation uses the 3s gyroscope configuration as an example:

[0047] exist Figure 2 and Figure 3The gyroscope sensor is equipped with seven gyroscopes, arranged in a configuration of one 3+1s + one 3s setup. In the 3+1s configuration, the input axes of three gyroscopes are along the +X, +Y, and +Z axes of the celestial body, respectively, while the input axis of the S-axis gyroscope is installed at equal angles to the -X, +Y, and +Z axes of the celestial body. Its components in the celestial coordinate system are...

[0048] In this embodiment, the mounting vector matrices of the seven gyroscopes are as follows:

[0049] G0: VG[0] = [1.0 0 0];

[0050] G1: VG[1] = [0 1.0 0];

[0051] G2: VG[2] = [0 0 1.0];

[0052] G3: VG[3]=[-0.5774 0.5774 0.5774];

[0053] G4: VG[4]=[-0.5774 0.5774 -0.5774];

[0054] G5: VG[5]=[-0.2113 0.5774 0.7887];

[0055] G6: VG[6]=[0.7887 0.5774 -0.2113];

[0056] The optimal configuration gyroscope group preferably has GyroPreSet set to 0.

[0057] The singular logic table is bound as {2 3 4}, meaning that the three gyroscopes G2, G3, and G4 form a singular gyroscope group.

[0058] The specific diagnostic steps of this method are as follows:

[0059] (1) From the 7 gyroscopes, select G0, G1, and G2 based on the gyroscope group optimization GyroPreSet, starting from G0;

[0060] (2) Call the singularity elimination table, which is bound as {2 3 4}, and determine whether the three are singular;

[0061] (3) Next, select gyroscope G3 in sequence. The equilibrium equation is formed by G0, G1, G2 and G3.

[0062] (4) Perform balance equation detection. First, determine that all four gyroscopes are related to the balance equation. Score the four gyroscopes. If the balance equation is satisfied, add 1; if not, add 1 or add 2. Then, give the balance equation state. If the balance equation state is satisfied, then G0, G1, and G2 are used as the attitude fixed gyroscope group.

[0063] (5) Then select G4 and form a balance equation with G0, G1 and G2. Repeat step (4) until G6 is traversed.

[0064] (6) Select gyroscope groups G1, G2, and G3, and repeat step (2) until G4, G5, and G6 are selected. This completes the traversal of all gyroscopes and obtains the total score of all gyroscopes. Based on the total score of each gyroscope, the gyroscope to be diagnosed is determined.

[0065] like Figure 4 , Figure 5 As shown, this embodiment of the invention provides an online self-diagnostic optimization device for gyroscopes of arbitrary configurations. The device embodiment can be implemented through software, hardware, or a combination of both. From a hardware perspective, as... Figure 4 The diagram shown is a hardware architecture diagram of an electronic device containing an online self-diagnosis and optimization device for an arbitrary configuration gyroscope, as provided in an embodiment of the present invention. (Except for...) Figure 4 In addition to the processor, memory, network interface, and non-volatile memory shown, the electronic 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 5 As shown, a device in a logical sense is formed by the CPU of the electronic device in which it is located reading the corresponding computer program from the non-volatile memory into the memory for execution.

[0066] This embodiment provides an online self-diagnostic optimization device for arbitrary configuration gyroscopes, comprising:

[0067] The gyroscope group determination module 500 is used to determine multiple gyroscope groups from a first number of gyroscopes in a combined manner, wherein each gyroscope group consists of three different gyroscopes and the first number is not less than four.

[0068] The scoring module 502 is used to traverse the gyroscope groups and perform the following operations on each traversed gyroscope group: determine whether the three gyroscopes in the gyroscope group are singular; if so, do not process the gyroscope group and traverse the next gyroscope group; if not, traverse the other gyroscopes in the first number of gyroscopes except the gyroscope group in sequence, and for each traversed gyroscope, construct a balance equation for the gyroscope and the three gyroscopes in the gyroscope group, score the gyroscope and the three gyroscopes in the gyroscope group based on the balance equation, record and accumulate the score of each gyroscope; after traversing each gyroscope except the gyroscope group, traverse the next gyroscope group;

[0069] The diagnostic module 504 is used to identify gyroscopes with a total score lower than a preset value as gyroscopes to be diagnosed.

[0070] In this embodiment of the invention, the gyroscope group determination module 500 can be used to execute step 102 in the above method embodiment, the scoring module 502 can be used to execute step 102 in the above method embodiment, and the diagnosis module 504 can be used to execute step 104 in the above method embodiment.

[0071] In some implementations, when the scoring module 502 performs a traversal of the gyroscope group, it first traverses the gyroscope group with the optimal configuration, which is determined based on the mounting vector matrix of each gyroscope on the gyroscope sensor.

[0072] In some embodiments, when the scoring module 502 performs the task of determining whether the three gyroscopes in the gyroscope group are singular, it includes:

[0073] A pre-determined singularity exclusion table is invoked, which includes at least one singular gyroscope group consisting of three gyroscopes, wherein the three gyroscopes in the singular gyroscope group cannot complete the measurement of the satellite's three-axis attitude; the singularity exclusion table is determined based on the mounting vector matrix of each gyroscope;

[0074] Determine whether the three gyroscopes in the gyroscope group are the same as the three gyroscopes in any of the singular gyroscope groups; if so, determine that the three gyroscopes in the gyroscope group are singular; if not, determine that the three gyroscopes in the gyroscope group are not singular.

[0075] In some embodiments, when the scoring module 502 scores the gyroscope and the three gyroscopes in the gyroscope group based on the balance equation, it performs the following operations:

[0076] Calculate the balance equation and, based on the calculation results, determine whether the gyroscope and the three gyroscopes in the gyroscope group are related to the balance equation.

[0077] If not, then the top will not be scored;

[0078] If so, the score of the gyroscope is determined based on the quality of the calculation results. The calculation results include whether the balance equation is satisfied or not. When the balance equation is satisfied, the gyroscope gets a positive score; when the balance equation is not satisfied, the gyroscope gets a negative score.

[0079] In some embodiments, the scoring module 502 is also used to perform:

[0080] The gyroscope group that satisfies the balance equation for the first time will be used as the attitude-fixed gyroscope group for measuring the three-axis attitude of the satellite.

[0081] It is understood that the structures illustrated in the embodiments of the present invention do not constitute a specific limitation on an online self-diagnostic optimization device for an arbitrary configuration gyroscope. In other embodiments of the present invention, an online self-diagnostic optimization device for an arbitrary configuration gyroscope may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0082] The information interaction and execution process between the modules in the above-mentioned device are based on the same concept as the method embodiment of the present invention, and the specific details can be found in the description of the method embodiment of the present invention, and will not be repeated here.

[0083] This invention also provides an electronic device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements an online self-diagnosis and optimization method for an arbitrary configuration gyroscope according to any embodiment of this invention.

[0084] This invention also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program causes the processor to perform an online self-diagnosis and optimization method for an arbitrary configuration gyroscope according to any embodiment of this invention.

[0085] Specifically, a system or apparatus equipped with a storage medium may be provided, on which software program code implementing the functions of any of the embodiments described above is stored, and the computer (or CPU or MPU) of the system or apparatus may read and execute the program code stored in the storage medium.

[0086] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute part of the present invention.

[0087] Examples of storage media used to provide program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.

[0088] Furthermore, it should be clear that not only can the program code read by the computer be executed, but also the operating system or other components operating on the computer can be instructed based on the program code to perform some or all of the actual operations, thereby realizing the function of any of the embodiments described above.

[0089] Furthermore, it is understood that the program code read from the storage medium is written to the memory set in the expansion board inserted into the computer or to the memory set in the expansion module connected to the computer. Then, based on the instructions of the program code, the CPU or other components installed on the expansion board or expansion module execute some and all of the actual operations, thereby realizing the function of any of the above embodiments.

[0090] It should be noted that, in this document, relational terms such as "first" and "second" 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.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for online self-diagnosis and optimization of gyroscopes with arbitrary configurations, characterized in that, include: Multiple gyroscope groups are determined from a first number of gyroscope sensors in a combination manner, each gyroscope group consisting of three different gyroscopes, and the first number is not less than four; Iterate through the gyroscope groups, and for each gyroscope group iterates through, determine whether the three gyroscopes in the gyroscope group are singular; If so, then do not process that gyroscope group, and proceed to the next gyroscope group; If not, then iterate through the first number of gyroscopes except for the gyroscope group. For each gyroscope iterates through, construct a balance equation for the gyroscope and the three gyroscopes in the gyroscope group. Based on the balance equation, score the gyroscope and the three gyroscopes in the gyroscope group, record and accumulate the score of each gyroscope. After traversing every gyroscope except the one in the current gyroscope group, traverse the next gyroscope group; Gyroscopes with a total score lower than the preset value are identified as gyroscopes to be diagnosed. Determining whether the three gyroscopes in a gyroscope group are singular includes: A pre-determined singularity exclusion table is invoked, which includes at least one singular gyroscope group consisting of three gyroscopes, wherein the three gyroscopes in the singular gyroscope group cannot complete the measurement of the satellite's three-axis attitude; the singularity exclusion table is determined based on the mounting vector matrix of each gyroscope; Determine whether the three gyroscopes in the gyroscope group are the same as the three gyroscopes in any of the singular gyroscope groups; if so, determine that the three gyroscopes in the gyroscope group are singular; if not, determine that the three gyroscopes in the gyroscope group are not singular. The scoring of the gyroscope and the three gyroscopes in the group based on the balance equation includes: Calculate the balance equation and, based on the calculation results, determine whether the gyroscope and the three gyroscopes in the gyroscope group are related to the balance equation. If not, then the top will not be scored; If so, the score of the gyroscope is determined based on the quality of the calculation results. The calculation results include whether the balance equation is satisfied or not. When the balance equation is satisfied, the gyroscope gets a positive score; when the balance equation is not satisfied, the gyroscope gets a negative score.

2. The method according to claim 1, characterized in that, When traversing the gyroscope group, the optimal configuration of the gyroscope group is traversed first. The optimal configuration is determined based on the mounting vector matrix of each gyroscope on the gyroscope sensor.

3. The method according to claim 1, characterized in that, Also includes: The gyroscope group that satisfies the balance equation for the first time will be used as the attitude-fixed gyroscope group for measuring the three-axis attitude of the satellite.

4. An online self-diagnostic optimization device for an arbitrary configuration gyroscope, characterized in that, include: A gyroscope group determination module is used to determine multiple gyroscope groups from a first number of gyroscopes in a combination manner, wherein each gyroscope group consists of three different gyroscopes and the first number is not less than four. The scoring module is used to traverse the gyroscope groups and perform the following operations on each traversed gyroscope group: determine whether the three gyroscopes in the gyroscope group are singular; if so, do not process the gyroscope group and traverse the next gyroscope group; if not, traverse the other gyroscopes in the first number of gyroscopes except the gyroscope group in turn, construct a balance equation for each gyroscope and the three gyroscopes in the gyroscope group, score the gyroscope and the three gyroscopes in the gyroscope group based on the balance equation, and record and accumulate the score of each gyroscope. After traversing every gyroscope except the one in the current gyroscope group, traverse the next gyroscope group; The diagnostic module is used to identify gyroscopes with a total score lower than a preset value as gyroscopes to be diagnosed. When the scoring module performs the judgment on whether there are singularities among the three gyroscopes in the gyroscope group, it includes: A pre-determined singularity exclusion table is invoked, which includes at least one singular gyroscope group consisting of three gyroscopes, wherein the three gyroscopes in the singular gyroscope group cannot complete the measurement of the satellite's three-axis attitude; the singularity exclusion table is determined based on the mounting vector matrix of each gyroscope; Determine whether the three gyroscopes in the gyroscope group are the same as the three gyroscopes in any of the singular gyroscope groups; if so, determine that the three gyroscopes in the gyroscope group are singular; if not, determine that the three gyroscopes in the gyroscope group are not singular. When the scoring module scores the gyroscope and the three gyroscopes in the gyroscope group based on the balance equation, it performs the following operations: Calculate the balance equation and, based on the calculation results, determine whether the gyroscope and the three gyroscopes in the gyroscope group are related to the balance equation. If not, then the top will not be scored; If so, the score of the gyroscope is determined based on the quality of the calculation results. The calculation results include whether the balance equation is satisfied or not. When the balance equation is satisfied, the gyroscope gets a positive score; when the balance equation is not satisfied, the gyroscope gets a negative score.

5. The apparatus according to claim 4, characterized in that, When the scoring module traverses the gyroscope group, it first traverses the gyroscope group with the optimal configuration, which is determined based on the mounting vector matrix of each gyroscope on the gyroscope sensor.

6. A computing device comprising a memory and a processor, wherein the memory stores a computer program, and the processor, when executing the computer program, implements the method as described in any one of claims 1-3.

7. A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the method of any one of claims 1-3.

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