A method for discriminating maximum value fault of gyro angular velocity of single-set ten-table inertial measurement unit based on two-out-of-three

Abstract

The present application relates to a kind of based on two-out-of-three single set of ten table inertial measurement unit gyro angular velocity maximum fault discrimination method, comprising the following steps:1, according to the full amount of 10-way information of gyro three orthogonal, two oblique positive and negative pulse, the pulse increment value of each way is calculated;2, the angular velocity of current beat of inertial measurement unit gyro each axis is calculated;3.x-axis gyro maximum fault judgment method is: if the angular velocity of x-axis gyro is greater than threshold value, the angular velocity of other axis combination is less than threshold value, then x-axis gyro is maximum fault;Otherwise, then normal;4, using the similar method with x-axis, y-axis gyro maximum fault judgment is carried out;5, using the similar method with x-axis, z-axis gyro maximum fault judgment is carried out;The present application can solve the misjudgment and misoperation of existing single set of ten table inertial measurement unit gyro angular velocity maximum fault without adding equipment, by optimizing algorithm, and by two-out-of-three, further improve the reliability of redundancy technology.

Description

Technical Field

[0001] The present invention relates to the technical field of carrier rocket inertial group redundancy, in particular to a method for distinguishing maximum value faults of gyroscope angular velocity of a single set of ten-meter inertial group based on two-out-of-three method. Background Art

[0002] The inertial group is an important measuring device for launch vehicles. It is mainly used to measure the angular velocity and apparent velocity information of the three axes of the rocket body. In order to improve the reliability of the control system, it is usually necessary to design a redundant design for this device, which provides important guarantees for the stable flight of the rocket and the precise arrival at the target orbit.

[0003] Common launch vehicle IMU redundancy methods vary, including two six-meter sets, two eight-meter sets, three six-meter sets, and a single ten-meter set. In comparison, a single ten-meter set is becoming the mainstream in launch vehicle applications. This combination of five gyros and five accelerometers, both arranged in a three-orthogonal, two-canted configuration, offers advantages in reliability, cost-effectiveness, and simplicity.

[0004] However, existing IMU gyro angular velocity maximum value determination methods, which use a single set of ten meters, all determine whether the corresponding axis's angular velocity maximum value exceeds a threshold. If so, it indicates a gyro angular velocity maximum value fault; otherwise, the IMU output is normal. While this method, lacking a reference for maximum angular velocity values, can diagnose most gyro angular velocity maximum value faults, it can lead to misjudgment and mishandling of gyro angular velocity maximum value faults in aircraft with excessive angular velocity or faults.

[0005] To this end, a method for diagnosing the maximum gyro angular velocity fault of a single set of ten-meter inertial group based on the method of taking two out of three is proposed. That is, the angular velocities of three orthogonal and two oblique inertial groups are first calculated, and then the information of these five angular velocities is fused. Finally, the method of taking two out of three is used to diagnose the maximum gyro angular velocity fault of the orthogonal axis. Summary of the Invention

[0006] The present invention aims to overcome the problem of the existing single-set ten-meter inertial group redundancy technology being prone to misjudgment of gyro angular velocity maximum faults. A method for distinguishing gyro angular velocity maximum faults in a single-set ten-meter inertial group based on a two-out-of-three approach is proposed. The method calculates and fuses the output information of three orthogonal and two oblique inertial groups, and then uses a two-out-of-three approach to distinguish gyro angular velocity maximum faults in the orthogonal axes of the single-set ten-meter inertial group.

[0007] The above-mentioned object of the present invention is achieved through the following technical solutions:

[0008] A method for determining the maximum value of gyro angular velocity of a single set of ten inertial gauges based on two out of three is provided, comprising the following steps:

[0009] (1) Based on the full amount information of the three orthogonal and two oblique positive and negative pulses of the gyroscope, calculate the three orthogonal and two oblique positive and negative pulse increment information, a total of 10 channels;

[0010] (2) Calculate the current angular velocity of the three orthogonal and two oblique gyroscopes on each axis of the inertial group gyroscope;

[0011] (3) Perform x-axis gyro angular velocity maximum fault judgment: If the angular velocity of the x-axis gyro is greater than the threshold value, and the reference angular velocity of the x-axis direction combined by other axes is less than the threshold value, the x-axis gyro is at an angular velocity maximum fault; otherwise, the output is normal;

[0012] (4) Similarly, the maximum y-axis gyro angular velocity fault is determined;

[0013] (5) Similarly, the z-axis gyro angular velocity maximum fault is determined.

[0014] Preferably, the method for calculating the incremental information of the three orthogonal and two oblique positive and negative pulses, a total of 10 channels, in step (1) is as follows:

[0015] ΔN gx+ =N gx+,n -N gx+,n-1

[0016] ΔN gx- =N gx-,n -N gx-,n-1

[0017] ΔN gy+ =N gy+,n -N gy+,n-1

[0018] ΔN gy- =N gy-,n -N gy-,n-1

[0019] ΔN gz+ =N gz+,n -N gz+,n-1

[0020] ΔN gz- =N gz-,n -N gz-,n-1

[0021] ΔN gs+ =N gs+,n -N gs+,n-1

[0022] ΔN gs- =N gs-,n -N gs-,n-1

[0023] ΔN gt+ =N gt+,n -N gt+,n-1

[0024] ΔN gt- =N gt-,n -N gt-,n-1

[0025] Where: N gx+,n 、N gx-,n 、N gy+,n 、N gy-,n 、N gz+,n 、N gz-,n 、N gs+,n 、N gs-,n 、N gt+,n 、N gt-,n The full value of the gyro positive and negative channel pulses of the current cycle of the single set of ten meters, three orthogonal (x-axis, y-axis, z-axis) and two oblique (s-axis, t-axis) respectively read; N gx+,n-1 、N gx-,n-1 、N gy+,n-1 、N gy-,n-1 、N gz+,n-1 、N gz-,n-1 、N gs+,n-1 、N gs-,n-1 、N gt+,n-1 、N gt-,n-1 Respectively represent the full value of the gyro positive and negative channel pulses in a single set of ten tables, three orthogonal (x-axis, y-axis, z-axis) and two oblique (s-axis, t-axis) cycles; when calculating for the first time, ΔN gx+ , ΔN gx- , ΔN gy+ , ΔN gy- , ΔN gz+ , ΔN gz- , ΔN gs+ , ΔN gs- , ΔN gt+ , ΔN gt- Both are 0.

[0026] Preferably, the x-axis, y-axis, and z-axis refer to the three-axis coordinates of the inertial group coordinate system o-xyz, which are defined as follows: the origin o is located at the center of mass of the inertial group; ox—a straight line ox through o is perpendicular to the installation reference plane, and the upward direction is positive; oz—a straight line oz through o is perpendicular to the positioning reference plane, and the direction away from the reference plane is positive; o-xyz is a right-handed rectangular coordinate system, and the definition of the coordinate system is not unique and can be defined according to user needs.

[0027] Preferably, the installation reference surface refers to the reference surface used to determine the installation position and geometric relationship of the inertial group during the mechanical design and manufacturing process; the positioning reference surface refers to the surface where the inertial group contacts the positioning element when the inertial group is positioned in the fixture during mechanical processing.

[0028] Preferably, the step (2) uses the following method to calculate the angular velocity of the three orthogonal and two oblique axis gyroscopes of the inertial group gyroscope:

[0029] The angular velocity Δω of the three orthogonal and two oblique gyroscopes of the inertial group x , Δω y , Δω z , Δω s and Δω t The detailed calculation method is as follows:

[0030]

[0031] Among them: K gx+ , K gx- , K gy+ , K gy- , K gz+ , K gz- , K gs+ , K gs- , K gt+ , K gt- D is the positive and negative pulse conversion coefficient of the x-axis, y-axis, z-axis, s-axis, and t-axis gyroscope; 0x 、D 0y 、D 0z 、D 0s 、D 0t It is the zero-order coefficient of the x-axis, y-axis, z-axis, s-axis, and t-axis gyroscope, and the unit is rad / s.

[0032] Preferably, the pulse conversion coefficient refers to the proportional coefficient used by the gyro to convert the measured pulse signal into a rotational speed signal; the zero-order error refers to the non-zero output voltage of the gyro due to manufacturing errors when the acceleration input is zero. Both the pulse conversion coefficient and the zero-order error are obtained through single-machine calibration.

[0033] Preferably, the step (3) adopts a "two out of three" method to perform the calculation method for the maximum fault diagnosis of the inertial group gyro angular velocity in the x-axis direction according to the combination of three orthogonal and two oblique angular velocities as follows:

[0034]

[0035] θ s1 ,θ s2 ,θ s3 and θ t1 ,θ t2 ,θ t3 The drawings in the specification are respectively Figure 2 In the figure, the angles between the s-axis gyro and the x-axis, y-axis, and z-axis, and the angles between the t-axis gyro and the x-axis, y-axis, and z-axis are given by the inertial group calibration measurement.

[0036] Preferably, the step (4) adopts a "two out of three" method to perform the calculation method for the maximum fault diagnosis of the inertial group gyro angular velocity in the y-axis direction according to the combination of three orthogonal and two oblique angular velocities as follows:

[0037]

[0038]

[0039] Preferably, the calculation method for the maximum value fault diagnosis of the inertial group gyro angular velocity in the z-axis direction according to the combination of three orthogonal and two oblique angular velocities in step (5) is as follows:

[0040]

[0041] Compared with the prior art, the present invention has the following advantages:

[0042] (1) The present invention can improve the reliability of redundancy technology without adding equipment;

[0043] (2) The present invention can solve the problem of misjudgment or mis-cutting of gyro maximum value failure in the existing single-set ten-meter inertial group under the condition of a primary fault of the inertial group;

[0044] (3) Compared with existing flight software that uses a single set of ten-meter gyro maximum value fault diagnosis, the present invention only adds a reference angular velocity derived from the fusion of gyro output information from the tilted and other orthogonal axes, and the modification of the flight software code is very small;

[0045] (4) The present invention can further improve the reliability of system redundancy technology through the "three out of two" redundancy method. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is a flow chart of a method for judging the maximum value of gyro angular velocity fault in a single set of ten-meter inertial group based on "three out of two" of the present invention.

[0047] Figure 2 Schematic diagram of the three-orthogonal and two-oblique installation of the inertial group of the present invention DETAILED DESCRIPTION

[0048] The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments:

[0049] refer to Figure 1 This is a flow chart of a method for determining gyro angular velocity maximum faults in a single set of ten-meter inertial system (IMU) based on the "two out of three" method of the present invention, specifically including:

[0050] (1) Based on the full amount information of the three orthogonal and two oblique positive and negative pulses of the gyroscope, calculate the three orthogonal and two oblique positive and negative pulse increment information, a total of 10 channels;

[0051] The detailed calculation method of the 10-way positive and negative pulse increments of the inertial group gyroscope with three orthogonal and two oblique ones is as follows:

[0052] ΔN gx+ =N gx+,n -N gx+,n-1

[0053] ΔN gx- =N gx-,n -N gx-,n-1

[0054] ΔN gy+ =N gy+,n -N gy+,n-1

[0055] ΔN gy- =N gy-,n -N gy-,n-1

[0056] ΔN gz+ =N gz+,n -N gz+,n-1

[0057] ΔN gz- =N gz-,n -N gz-,n-1

[0058] ΔN gs+ =N gs+,n -N gs+,n-1

[0059] ΔN gs- =N gs-,n -N gs-,n-1

[0060] ΔN gt+ =N gt+,n -N gt+,n-1

[0061] ΔN gt- =N gt-,n -N gt-,n-1

[0062] Where: N gx+,n 、N gx-,n 、N gy+,n 、N gy-,n 、N gz+,n 、N gz-,n 、N gs+,n 、N gs-,n 、N gt+,n 、N gt-,n The full value of the gyro positive and negative channel pulses of the current cycle of the single set of ten meters, three orthogonal (x-axis, y-axis, z-axis) and two oblique (s-axis, t-axis) respectively read; N gx+,n-1 、Ngx-,n-1 、N gy+,n-1 、N gy-,n-1 、N gz+,n-1 、N gz-,n-1 、N gs+,n-1 、N gs-,n-1 、N gt+,n-1 、N gt-,n-1 Respectively represent the full value of the gyro positive and negative channel pulses in a single set of ten tables, three orthogonal (x-axis, y-axis, z-axis) and two oblique (s-axis, t-axis) cycles; when calculating for the first time, ΔN gx+ , ΔN gx- , ΔN gy+ , ΔN gy- , ΔN gz+ , ΔN gz- , ΔN gs+ , ΔN gs- , ΔN gt+ , ΔN gt- Both are 0.

[0063] The x-axis, y-axis, and z-axis refer to the three-axis coordinates of the inertial group coordinate system o-xyz, which are defined as follows: the origin o is located at the center of mass of the inertial group; ox—a straight line ox through o is perpendicular to the installation reference plane, and the upward direction is positive; oz—a straight line oz through o is perpendicular to the positioning reference plane, and the direction away from the reference plane is positive; o-xyz is a right-handed rectangular coordinate system.

[0064] Among them: the installation reference plane refers to the reference plane used to determine the installation position and geometric relationship of the inertial group during the mechanical design and manufacturing process; the positioning reference plane refers to the surface where the inertial group contacts the positioning element when the inertial group is positioned in the fixture during machining; the definition of the o-xyz coordinate system is not unique and can be defined according to user needs.

[0065] (2) Calculate the current angular velocity of the three orthogonal and two oblique gyroscopes on each axis of the inertial group gyroscope;

[0066] The angular velocity Δω of the three orthogonal and two oblique gyroscopes of the inertial group x , Δω y , Δω z , Δω s and Δω t The detailed calculation method is as follows:

[0067]

[0068] Among them: K gx+ , K gx- , K gy+ , K gy- , K gz+ , K gz- , K gs+ , K gs- , Kgt+ , K gt- D is the positive and negative pulse conversion coefficient of the x-axis, y-axis, z-axis, s-axis, and t-axis gyroscope; 0x 、D 0y 、D 0z 、D 0s 、D 0t It is the zero-order coefficient of the x-axis, y-axis, z-axis, s-axis, and t-axis gyroscope, and the unit is rad / s.

[0069] The pulse conversion factor is the proportional coefficient used by the gyro to convert the measured pulse signal into a rotational speed signal. The zero-order error refers to the non-zero output voltage of the gyro due to manufacturing errors when the acceleration input is zero. Both the pulse conversion factor and the zero-order error are obtained through single-machine calibration.

[0070] (3) Perform x-axis gyro angular velocity maximum fault judgment: If the x-axis gyro angular velocity is greater than the threshold value, and the reference angular velocity in the x-axis direction of the combination of other orthogonal and oblique axes is less than the threshold value, the x-axis is at an angular velocity maximum fault; otherwise, the output is normal;

[0071] Based on the combination of the orthogonal and oblique axis angular velocities, the calculation method for the maximum value fault diagnosis of the inertial group gyro angular velocity in the x-axis direction using the "three out of two" method is as follows:

[0072]

[0073] θ s1 ,θ s2 ,θ s3 and θ t1 ,θ t2 ,θ t3 The drawings in the specification are respectively Figure 2 In the equation, the angles between the s-axis gyro and the x-axis, y-axis, and z-axis, and the angles between the t-axis gyro and the x-axis, y-axis, and z-axis are given by the inertial group calibration measurement; is the gyro maximum threshold, which can generally be taken as 0.698 (about 40° / s).

[0074] (4) Similarly, the y-axis gyro angular velocity maximum fault is judged: if the y-axis gyro angular velocity is greater than the threshold value, and the reference angular velocity in the y-axis direction of the combination of other orthogonal and oblique axes is less than the threshold value, the y-axis is a maximum angular velocity fault; otherwise, the output is normal;

[0075] Based on the combination of the orthogonal and oblique axis angular velocities, the calculation method for diagnosing the maximum value of the inertial group gyro angular velocity in the Y-axis direction using the "two out of three" method is as follows:

[0076]

[0077] (5) Similarly, the z-axis gyro angular velocity maximum fault is judged: if the z-axis gyro angular velocity is greater than the threshold value, and the reference angular velocity in the z-axis direction of the combination of other orthogonal and oblique axes is less than the threshold value, the z-axis is at an angular velocity maximum fault; otherwise, the output is normal;

[0078] Based on the combination of the orthogonal and oblique axis angular velocities, the calculation method for the maximum value fault diagnosis of the inertial group gyro angular velocity in the z-axis direction using the "three out of two" method is as follows:

[0079]

[0080] The single-set ten-meter inertial group gyro angular velocity maximum fault diagnosis method of the present invention can effectively solve the problem of misjudgment and mis-cutting of gyro maximum faults in existing redundancy methods when an aircraft has excessive angular velocity or faults, and can further improve the reliability of system redundancy technology through a two-out-of-three redundancy method.

[0081] The above description is only the best specific implementation method of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or replacements that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

[0082] The contents not described in detail in the specification of the present invention belong to the common knowledge of professionals in this field.

Claims

1. A method for identifying maximum angular velocity faults of a single set of ten inertial gauge gyroscopes based on a two-out-of-three approach, characterized by: The steps include: (1) Based on the full amount of positive and negative pulse information of the three orthogonal axes and two oblique axes of the gyroscope, calculate the positive and negative pulse increment information of the three orthogonal axes and two oblique axes, a total of 10 channels; among which the three orthogonal axes refer to the x-axis, y-axis, and z-axis of the gyroscope, and the two oblique axes refer to the s-axis and t-axis of the gyroscope; (2) Calculate the current angular velocity of the three orthogonal and two oblique gyroscopes on each axis of the inertial group gyroscope; (3) Performing x-axis gyro angular velocity maximum fault judgment, the judgment method is: if the angular velocity of the x-axis gyro is greater than the threshold value, and the reference angular velocity in the x-axis direction of the other axis combination is less than the threshold value, then the x-axis gyro has an angular velocity maximum fault; otherwise, the output is normal; wherein, the other axis combination includes the y-axis, z-axis, s-axis combination and the y-axis, z-axis, t-axis combination; (4) Performing a maximum y-axis gyro angular velocity fault judgment, the judgment method is: if the y-axis gyro angular velocity is greater than the threshold value, and the reference angular velocity in the y-axis direction of the other axis combination is less than the threshold value, the y-axis gyro is at a maximum angular velocity fault; otherwise, the output is normal; wherein, the other axis combination includes the x-axis, z-axis, s-axis combination and the x-axis, z-axis, t-axis combination; (5) Perform a z-axis gyro angular velocity maximum fault judgment. The judgment method is: if the angular velocity of the z-axis gyro is greater than the threshold value, and the reference angular velocity in the z-axis direction of the other axis combination is less than the threshold value, then the z-axis gyro has an angular velocity maximum fault; otherwise, the output is normal; among them, the other axis combinations include the x-axis, y-axis, s-axis combination and the x-axis, y-axis, t-axis combination.

2. The method for distinguishing the maximum angular velocity fault of a single set of ten inertial gauges based on a two-out-of-three method according to claim 1, characterized in that: In step (1), the calculation method of positive and negative pulse increments is as follows: ΔN gx+ =N gx+,n -N gx+,n-1 、ΔN gx- =N gx-,n -N gx-,n-1 、ΔN gy+ =N gy+,n -N gy+,n-1 、 ΔN gy- =N gy-,n -N gy-,n-1 、ΔN gz+ =N gz+,n -N gz+,n-1 、ΔN gz- =N gz-,n -N gz-,n-1 、 ΔN gs+ =N gs+,n -N gs+,n-1 、ΔN gs- =N gs-,n -N gs-,n-1 、ΔN gt+ =N gt+,n -N gt+,n-1 、 ΔN gt- =N gt-,n -N gt-,n-1 , Where: N gx+,n 、N gx-,n 、N gy+,n 、N gy-,n 、N gz+,n 、N gz-,n 、N gs+,n 、N gs-,n 、N gt+,n 、N gt-,n The full value of the gyro positive and negative channel pulses of the current cycle of the three orthogonal axes and two oblique axes of the single set of ten meters read separately; N gx+,n-1 、N gx-,n-1 、N gy+,n-1 、N gy-,n-1 、N gz+,n-1 、N gz-,n-1 、N gs+,n-1 、N gs-,n-1 、N gt+,n-1 、N gt-,n-1 Respectively represent the full magnitude of the gyro positive and negative channel pulses on three orthogonal axes and two oblique axes of a single set of ten meters in one cycle; ΔN gx+ , ΔN gx- , ΔN gy+ , ΔN gy- , ΔN gz+ , ΔN gz- , ΔN gs+ , ΔN gs- , ΔN gt+ , ΔN gt- They are respectively the positive and negative pulse increments of the current cycle of the three orthogonal axes and two oblique axes of a single set of ten tables, and when calculated for the first time, ΔN gx+ , ΔN gx- , ΔN gy+ , ΔN gy- , ΔN gz+ , ΔN gz- , ΔN gs+ , ΔN gs- , ΔN gt+ , ΔN gt- are all 0; the x-axis, y-axis, and z-axis refer to the three-axis coordinates of the inertial group coordinate system o-xyz, which are defined as follows: the origin o is located at the center of mass of the inertial group; ox—a straight line ox through o is perpendicular to the installation reference plane, and the upward direction is positive; oz—a straight line oz through o is perpendicular to the positioning reference plane, and the direction away from the reference plane is positive; o-xyz is a right-handed rectangular coordinate system.

3. The method for distinguishing the maximum angular velocity fault of a single set of ten inertial gauges based on a two-out-of-three method according to claim 2, characterized in that: In step (2), the current angular velocity of the gyro with three orthogonal and two oblique corresponding axes of the inertial group gyro is calculated as follows: Where: Δω x , Δω y , Δω z , Δω s and Δω t Respectively represent the angular velocity of the x-axis, y-axis, z-axis, s-axis, and t-axis gyroscope, in rad / s; K gx+ , K gx- , K gy+ , K gy- , K gz+ , K gz- , K gs+ , K gs- , K gt+ , K gt- D is the positive and negative pulse conversion coefficient of the x-axis, y-axis, z-axis, s-axis, and t-axis gyroscope; 0x 、D 0y 、D 0z 、D 0s 、D 0t is the zero-order error of the x-axis, y-axis, z-axis, s-axis, and t-axis gyroscopes, in rad / s; the pulse conversion coefficient refers to the proportional coefficient of the gyroscope converting the measured pulse signal into a speed signal; Zero-order error refers to the fact that when the acceleration input is zero, the gyroscope will have a certain non-zero volt output voltage due to manufacturing error; the pulse conversion coefficient and zero-order error are both obtained through single-machine calibration.

4. The method for distinguishing the maximum angular velocity fault of a single set of ten inertial gauges based on a two-out-of-three method according to claim 3 is characterized in that: In step (3), the method for judging the maximum value fault of the x-axis gyro angular velocity is as follows: θ s1 ,θ s2 ,θ s3 and θ t1 ,θ t2 ,θ t3 are the angles between the s-axis and the x-axis, y-axis, and z-axis, and between the t-axis and the x-axis, y-axis, and z-axis, respectively, which are obtained by the inertial calibration measurement; is the gyroscope maximum threshold.

5. The method for distinguishing the maximum angular velocity fault of a single set of ten inertial gauges based on a two-out-of-three method according to claim 4 is characterized in that: In step (4), the method for judging the maximum value fault of the y-axis gyroscope angular velocity is as follows:

6. The method for distinguishing the maximum angular velocity fault of a single set of ten inertial gauges based on a two-out-of-three method according to claim 5, characterized in that: In step (5), the method for judging the maximum value fault of the z-axis gyroscope angular velocity is as follows:

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