High-efficiency and high-reliability six-axis gyroscope configuration method

Abstract

The invention relates to a high-efficiency and high-reliability six-axis gyroscope configuration method, and belongs to the technical field of satellite inertial navigation. An optical fiber gyroscope and an MEMS gyroscope are respectively configured on three measuring axes X, Y and Z in space to form a six-axis integrated gyroscope assembly redundant structure; a heterogeneous redundant two-way processor is used for detecting and processing gyroscope signals, and each gyroscope is provided with two independent signal channels which are a main component and a backup component, so that the high efficiency of signal processing is ensured, and the fault-tolerant capability is improved. According to the invention, the principle of fault mode difference and redundant components of the fiber-optic gyroscope and the MEMS gyroscope is utilized, the single-point fault and common-cause fault of the component are eliminated, the rapid fault switching isolation and recovery functions are provided when the system breaks down, the efficient measurement of the triaxial angular velocity is reliably provided, and the measurement accuracy is improved. Therefore, the requirements of long service life and high reliability in the space gyroscope assembly are met.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite inertial navigation, and particularly relates to a method for configuring a highly efficient and highly reliable six-axis gyroscope. Background Art

[0002] An angular velocity measurement unit with high reliability is crucial for satellite attitude control and navigation, which poses strict requirements on the reliability of gyroscopes. Currently, a coaxial gyroscope configuration component with three axes in one body is widely used due to its simple structure and low cost. Gyroscopes for satellites are affected by factors such as severe vibration during launch, radiation in the working environment, and thermal vacuum. Once a failure occurs, since there is no backup gyro, the gyroscope will not be able to sense the angular velocity of the satellite body in the corresponding axial direction, bringing huge risks. If a common-cause failure occurs, the three-axis gyroscope will fail simultaneously, and the gyroscope component will completely lose its function.

[0003] The four-axis gyroscope configuration includes three orthogonal axes and an inclined axis. By adding an inclined-axis gyroscope, the reliability of the system can be improved. However, when the number of faulty axes reaches two, the inclined-axis gyroscope will lose its backup function due to the loss of the reference, and still faces the risk of common-cause failure. At the same time, in the existing gyroscope redundancy design, the problem of common-cause failure in the signal processing circuit is less considered. However, due to the special working environment, the failure risks brought by cosmic rays, high-energy particles, etc. should be taken seriously. Therefore, it is necessary to consider the heterogeneous redundancy configuration of signal processing. Summary of the Invention

[0004] In view of the above problems, the present invention provides a highly efficient and highly reliable method for configuring a six-axis gyroscope for satellites. By combining fiber optic gyroscopes and MEMS gyroscopes, adopting a heterogeneous redundant dual-processor architecture, and through redundant design and a fault detection mechanism, the reliability and fault tolerance of the system are effectively improved, which is particularly suitable for satellite applications sensitive to space radiation. By means of redundant design, heterogeneous processor architecture, and fault switching mechanism, the reliability, stability, and fault tolerance of the system are improved, which is mainly applicable to high-precision, highly reliable, and redundant gyro inertial measurement devices for satellite navigation and attitude control.

[0005] The present invention provides a highly efficient and highly reliable six-axis gyroscope for satellites, including three spatial measurement axes and a heterogeneous redundant dual-processor. The spatial measurement axes include coaxial gyroscope assemblies one, two, and three respectively arranged on the measurement axes in the X-axis direction, Y-axis direction, and Z-axis direction;

[0006] Each group of gyroscope assemblies includes a fiber optic gyroscope and a MEMS gyroscope;

[0007] The heterogeneous redundant dual-processor includes a first processor and a second processor;

[0008] During use, the fiber optic gyroscope and the MEMS gyroscope serve as the primary gyroscope and the backup gyroscope for each other; the first processor and the second processor serve as the primary processor and the backup processor for each other;

[0009] Each fiber optic gyroscope and each MEMS gyroscope are respectively connected to the first processor and the second processor through corresponding ports to transmit the angular velocity.

[0010] Optionally, a switching mechanism is further included for respectively switching the primary gyroscope and the backup gyroscope, as well as the primary processor and the backup processor.

[0011] Optionally, the coaxial gyroscope assembly one includes a fiber optic gyroscope one (1) and a MEMS gyroscope one (4);

[0012] The coaxial gyroscope assembly two includes a fiber optic gyroscope two (2) and a MEMS gyroscope two (5);

[0013] The coaxial gyroscope assembly three includes a fiber optic gyroscope three (3) and a MEMS gyroscope three (6);

[0014] The fiber optic gyroscope one (1), the fiber optic gyroscope two (2), and the fiber optic gyroscope three (3) are orthogonal to each other; the MEMS gyroscope one (4), the MEMS gyroscope two (5), and the MEMS gyroscope three (6) are orthogonal to each other.

[0015] Optionally, the first processor is an advanced reduced instruction set machine ARM, a digital signal processor DSP, or a single-chip microcomputer;

[0016] The second processor is a field programmable gate array FPGA processor or a complex programmable logic device CPLD.

[0017] Optionally, the first processor and the second processor simultaneously receive the angular velocities of each fiber optic gyroscope and MEMS gyroscope corresponding to the spatial measurement axes.

[0018] An efficient and highly reliable six-axis gyroscope configuration method includes:

[0019] S1. Observe the output angular velocities of the six-axis gyro configuration for the high-efficiency and highly reliable satellite on each spatial measurement axis, and check whether the primary gyroscope and the backup gyroscope on each spatial measurement axis fail;

[0020] S2. When the primary gyroscope on any spatial measurement axis fails, the heterogeneous redundant dual-channel processor outputs the angular velocity of the backup gyroscope on the same spatial measurement axis;

[0021] S3. Detect whether the angular velocity of the backup gyroscope on the same spatial measurement axis is correct. If it is correct, the system operates normally; if it is incorrect, go to step S4;

[0022] S4. Determine whether the primary processor of the primary gyroscope with a fault has a fault;

[0023] If not, the primary gyroscope with a fault fails, return to step S2, and continue to detect the primary gyroscopes of other spatial measurement axes;

[0024] If so, switch to the backup processor of the primary gyroscope with a fault through the switching mechanism, and use the corresponding backup processor to output the angular velocity of the fiber optic gyroscope with a fault, and enter step S5;

[0025] Meanwhile, reset the primary processor with a fault to obtain the reset primary processor, and determine whether the reset primary processor is successfully reset. If successful, enter step S6. If not, the corresponding processor fails, and enter step S7;

[0026] S5. Check whether the angular velocity output by the backup processor of the primary gyroscope with a fault is correct. If so, use the corresponding backup processor as the primary processor of the primary gyroscope with a fault; if not, reset the backup processor with a fault to obtain the reset backup processor, and determine whether the reset backup processor is successfully reset. If successful, enter step S6. If not, the corresponding processor fails, and enter step S7;

[0027] S6. Determine whether both the primary processor and the backup processor of the primary gyroscope with a fault have been reset. If so, preferentially use the processor that is successfully reset as the primary processor of the primary gyroscope with a fault, and use the other processor as the corresponding backup processor, and enter step S7;

[0028] S7. Traverse the primary gyroscopes of each spatial measurement axis to complete the six-axis gyro configuration.

[0029] Optionally, when the primary gyroscope on the spatial measurement axis is a fiber optic gyroscope, the specific steps for detecting whether a fault has occurred include:

[0030] Judge whether the real-time estimated value of the random walk coefficient of the fiber optic gyroscope is greater than the maximum predicted value of the random walk coefficient of the fiber optic gyroscope according to the random walk coefficient prediction model; if not, the fiber optic gyro is in a normal working state; if so, the fiber optic gyroscope has a fault.

[0031] Optionally, when the primary gyroscope on the spatial measurement axis is a MEMS gyroscope, the specific steps for detecting whether a fault has occurred include:

[0032] Obtain the real-time output data accuracy of the MEMS gyroscope and the fiber optic gyroscope on the same spatial measurement axis;

[0033] Compare the real-time output data accuracy of the MEMS gyroscope with that of the fiber optic gyroscope on the same spatial measurement axis to obtain the difference in real-time output data accuracy.

[0034] If the difference in real-time output data accuracy significantly exceeds the preset output accuracy difference value, it is a fault; if not, it is not a fault.

[0035] Optionally, the expression of the random walk coefficient prediction model is:

[0036]

[0037] where RWC represents the random walk coefficient of the fiber optic gyroscope, λ represents the optical wavelength, c represents the speed of light in a vacuum, L represents the length of the fiber optic loop, D represents the diameter of the fiber optic loop, e represents the electron charge, η represents the responsivity of the detector, P0 represents the power of the light source coupled into the optical path, A c represents the optical path loss, q is the first constant, b is the second constant, d′ is the radiation dose, Δv represents the spectral bandwidth of the light source, I d represents the dark current of the detector, k represents the Boltzmann constant, T represents the absolute temperature, and R represents the transimpedance of the detector.

[0038] Compared with the prior art, the present invention has at least the following beneficial effects:

[0039] (1) The present invention uses a combination of a fiber optic gyroscope and a MEMS gyroscope, with two different types of gyroscopes being redundant with each other on each spatial measurement axis, avoiding single-point failures of components; taking advantage of the principle that the failure modes of the two are different, it avoids system failures caused by common-cause failures, enhances the stability of the system, and improves the reliability of angular velocity measurement.

[0040] (2) Both the fiber optic gyroscope and the MEMS gyroscope of the present invention adopt a heterogeneous redundant dual-channel processor architecture. The present invention can monitor the operating state of the main processor in real time and quickly switch to the backup channel when the main channel processor fails to cope with common-cause failures in the signal processing circuit, especially suitable for reducing the influence of single-event effects in space.

[0041] (3) The present invention designs a complete fault detection and handling process for the operating state of the gyroscope, covering two cases: processor failures and non-processor failures: for non-processor failures, directly determine that the gyroscope fails and switch to the backup gyroscope channel; when a processor fails, the system switches to the backup processor, and the system further attempts to repair the failed processor and determines whether its output is correct through automatic detection; if the repair fails, determine that the processor fails and record it as an unavailable state; if one of the two processors is functioning properly, the faulty gyroscope can still be used as a backup, greatly improving the processor utilization rate and fault tolerance of the system.

[0042] (4) When the present invention repairs the corresponding processor without completely losing the gyroscope function, if the repair is successful, the processor can still be used as a backup processor, improving the reliability of the system in extreme space environments and maximizing the utilization of the system's hardware resources, thereby reducing the waste of redundant resources and improving the working efficiency of the entire system;

[0043] (5) The six-axis redundant gyro structure and fault handling mechanism of the present invention are not only applicable to satellite attitude measurement systems, but also applicable to inertial measurement application scenarios that require high precision and high reliability, such as unmanned aerial vehicle navigation, spacecraft control, and high-precision guidance systems, and have strong practical value and applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The drawings are only for the purpose of illustrating specific embodiments and are not considered to be a limitation of the present invention.

[0045] Figure 1 It is a schematic diagram of the flowchart of the method for configuring a highly efficient and highly reliable six-axis gyro in an embodiment of the present invention;

[0046] Figure 2 It is a schematic diagram of the combined pointing of six-axis gyros in an embodiment of the present invention;

[0047] Figure 3 It is a schematic diagram of the heterogeneous architecture diagram of the gyro processor in an embodiment of the present invention;

[0048] Figure 4 It is a schematic diagram of the configuration scheme of the six-axis gyro redundant system in an embodiment of the present invention.

[0049] Reference Signs:

[0050] Optical fiber gyroscope 1, optical fiber gyroscope 2, optical fiber gyroscope 3, MEMS gyroscope 1, MEMS gyroscope 2, MEMS gyroscope 3. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0051] In order to more clearly understand the above objects, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other. In addition, the present invention may be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0052] A specific embodiment of the present invention, as Figures 1-4 , discloses a highly efficient and highly reliable six-axis gyroscope, including:

[0053] Coaxial gyroscope assemblies one, two, and three;

[0054] The coaxial gyroscope assemblies one, two, and three are respectively arranged on corresponding spatial measurement axes, namely the measurement axis in the X-axis direction, the measurement axis in the Y-axis direction, and the measurement axis in the Z-axis direction;

[0055] Each group of gyroscope assemblies includes an optical fiber gyroscope and a MEMS gyroscope;

[0056] The heterogeneous redundant dual-channel processor includes a first processor and a second processor;

[0057] In use, the optical fiber gyroscope and the MEMS gyroscope are mutually the primary gyroscope and the backup gyroscope; the first processor and the second processor are mutually the primary processor and the backup processor.

[0058] Optionally, it further includes a switching mechanism for respectively switching the primary gyroscope and the backup gyroscope, as well as the primary processor and the backup processor.

[0059] Optionally, the coaxial gyroscope assemblies one, two, and three respectively include an optical fiber gyroscope and a MEMS gyroscope;

[0060] The highly efficient and highly reliable six-axis gyro configuration for satellites includes a heterogeneous redundant dual-channel processor for measuring the angular velocities of each optical fiber gyroscope and each MEMS gyroscope in each group of coaxial gyroscope assemblies;

[0061] It can be understood that the MEMS gyroscope is a microelectromechanical system gyroscope;

[0062] Optionally, the heterogeneous redundant dual-channel processor includes a primary processor and a backup processor;

[0063] The primary processor is the first processor or the second processor;

[0064] The backup processor is the first processor or the second processor;

[0065] The first processor and the second processor are mutually backup, that is, the output channels of the first processor and the second processor are mutually backup;

[0066] The first processor and the second processor simultaneously receive the angular velocities of each optical fiber gyro and MEMS gyroscope. When the first processor fails, the second processor acts as a backup and still operates normally, outputting the angular velocities of each spatial measurement axis. Similarly, when the second processor fails, the first processor acts as a backup and still operates normally, outputting the angular velocities of each spatial measurement axis;

[0067] Optionally, the heterogeneous redundant dual-channel processor includes a primary channel and a backup channel, including:

[0068] If both processors are functioning properly, this gyroscope can be used as a backup gyroscope;

[0069] If one of the two processors is functioning properly, it can also be used as a backup gyroscope;

[0070] If both processors fail, this gyroscope completely fails.

[0071] Optionally, the coaxial gyroscope assembly one includes a fiber optic gyroscope one 1 and a MEMS gyroscope one 4;

[0072] The coaxial gyroscope assembly two includes a fiber optic gyroscope two 2 and a MEMS gyroscope two 5;

[0073] The coaxial gyroscope assembly three includes a fiber optic gyroscope three 3 and a MEMS gyroscope three 6.

[0074] Optionally, the fiber optic gyroscopes on each spatial measurement axis are orthogonal to each other; the MEMS gyroscopes on each spatial measurement axis are orthogonal to each other.

[0075] Optionally, the first processor includes an Advanced RISC Machine (ARM), a Digital Signal Processor (DSP), or a microcontroller;

[0076] The second processor includes a Field Programmable Gate Array (FPGA) processor or a Complex Programmable Logic Device (CPLD); Figure 3 This is the structural diagram of the heterogeneous redundant dual-channel processor in the embodiment of the present invention;

[0077] The ARM / DSP / microcontroller processor and the FPGA / CPLD processor simultaneously receive the angular velocities of each fiber optic gyroscope and each MEMS gyroscope;

[0078] Optionally, the fiber optic gyroscope and the MEMS gyroscope in each spatial measurement axis are backup to each other;

[0079] Exemplarily, the first processor and the second processor simultaneously receive the angular velocities of each fiber optic gyroscope and each MEMS gyroscope and obtain the angular velocities of the corresponding spatial measurement axes;

[0080] During normal operation, the first processor is selected through a switching mechanism, and the first processor outputs the angular velocities of each fiber optic gyroscope or each MEMS gyroscope in each spatial measurement axis; when any one fiber optic gyroscope or any one MEMS gyroscope fails, the first processor outputs the angular velocity of the corresponding MEMS gyroscope or fiber optic gyroscope in the same axis;

[0081] When the first processor fails, the switching mechanism selects the second processor, and the second processor outputs the angular velocity of each fiber optic gyroscope or each MEMS gyroscope in each spatial measurement axis; Exemplarily, during operation, each fiber optic gyroscope and each MEMS gyroscope are outputting angular velocity; When the fiber optic gyroscope serving as the primary fails, the coaxial MEMS gyroscope serving as the backup still operates normally to output angular velocity; When the MEMS gyroscope fails, the coaxial fiber optic gyroscope still operates normally to output angular velocity.

[0082] Optionally, the heterogeneous redundant processor architecture performs angular velocity resolution and data processing.

[0083] Another object of the present invention is to provide an efficient and highly reliable six-axis gyroscope configuration method, including:

[0084] S1. Observe the output angular velocity of the high-efficiency and highly reliable six-axis gyroscope configuration for satellites in each spatial measurement axis, and check whether the primary gyroscope and the backup gyroscope on each spatial measurement axis fail.

[0085] It can be understood that each fiber optic gyroscope and each MEMS gyroscope are respectively connected to the first processor and the second processor through corresponding ports to transmit angular velocity;

[0086] It can be understood that when a fiber optic gyroscope on any spatial measurement axis fails, the angular velocity of the coaxial MEMS gyroscope is output;

[0087] When a MEMS gyroscope on any spatial measurement axis fails, the angular velocity of the coaxial fiber optic gyroscope is output;

[0088] Optionally, the specific steps for detecting whether each fiber optic gyroscope in the coaxial gyroscope assembly on each spatial measurement axis fails include:

[0089] Set the maximum predicted value of the random walk coefficient of the fiber optic gyroscope;

[0090] Obtain the real-time estimated value of the random walk coefficient of the fiber optic gyroscope;

[0091] Judge whether the real-time estimated value of the random walk coefficient of the fiber optic gyroscope is greater than the maximum predicted value of the random walk coefficient of the fiber optic gyroscope;

[0092] If not, the fiber optic gyroscope is in a normal working state; if so, the fiber optic gyroscope has failed;

[0093] Optionally, the expression of the random walk coefficient is:

[0094]

[0095] Among them, RWC represents the random walk coefficient of the fiber optic gyroscope, λ represents the optical wavelength, c represents the propagation speed of light in vacuum, L represents the length of the fiber optic loop, D represents the diameter of the fiber optic loop, e represents the electronic charge, η represents the responsivity of the detector, P0 represents the power of the light source coupled into the optical path, A c represents the optical path loss, q is the first constant, b is the second constant, d′ is the radiation dose, Δv represents the spectral bandwidth of the light source, I d represents the dark current of the detector, k represents the Boltzmann constant, T represents the absolute temperature, and R represents the transimpedance of the detector.

[0096] Optionally, the specific steps for detecting whether each MEMS gyroscope on each spatial measurement axis fails include:

[0097] Set the preset output accuracy difference values of each MEMS gyroscope and the fiber optic gyroscope;

[0098] Obtain the real-time output data accuracy of each MEMS gyroscope and the fiber optic gyroscope;

[0099] Compare the real-time output data accuracy of each MEMS gyroscope with the real-time output data accuracy of the fiber optic gyroscope on the same spatial measurement axis to obtain the real-time output data accuracy difference in each spatial measurement axis;

[0100] If the real-time output data accuracy difference exceeds the preset output accuracy difference value, the MEMS gyroscope fails; if not, it is in the normal working state;

[0101] S2. When the primary gyroscope on any one spatial measurement axis fails, the heterogeneous redundant dual-channel processor outputs the angular velocity of the backup gyroscope on the same spatial measurement axis;

[0102] That is, replace the angular velocity of the failed primary gyroscope with the angular velocity of the backup gyroscope and output it as the angular velocity of the corresponding spatial measurement axis;

[0103] Exemplarily, the primary gyroscopes include Fiber Optic Gyroscope 1, Fiber Optic Gyroscope 2, Fiber Optic Gyroscope 3, MEMS Gyroscope 4, MEMS Gyroscope 5, or MEMS Gyroscope 6;

[0104] S3. Detect whether the angular velocity of the backup gyroscope on the same spatial measurement axis is correct. If it is correct, the system works normally; if not, go to step S4;

[0105] S4. Determine whether the primary processor of the failed primary gyroscope fails; the primary processor is the first processor or the second processor;

[0106] If not, the primary gyroscope with a fault fails, return to step S2, and continue to detect the primary gyroscopes of other spatial measurement axes;

[0107] If so, switch to the backup processor in the heterogeneous redundant dual-processor through the switching mechanism, and use the backup processor to output the angular velocity of the faulty fiber optic gyroscope, and enter step S5;

[0108] Meanwhile, reset the faulty primary processor to obtain the reset primary processor, and determine whether the reset primary processor is successfully reset. If successful, enter step S6. If not, the corresponding processor fails, and enter step S7;

[0109] S5. Check whether the angular velocity output by the backup processor of the faulty primary gyroscope is correct. If so, use the corresponding backup processor as the primary processor of the faulty primary gyroscope; if not, reset the faulty backup processor to obtain the reset backup processor, and determine whether the reset backup processor is successfully reset. If successful, enter step S6. If not, the corresponding processor fails, and enter step S7;

[0110] S6. Determine whether both the primary processor and the backup processor of the faulty primary gyroscope have been reset. If so, preferentially use the processor that is successfully reset as the primary processor of the faulty primary gyroscope, and use the other processor as the corresponding backup processor, and enter step S7;

[0111] S7. Traverse the primary gyroscopes of each spatial measurement axis to complete the six-axis gyro configuration.

[0112] Optionally, detect the angular velocities of two gyroscopes on the same spatial measurement axis. When any one gyroscope fails or the accuracy of the output data is greatly reduced, immediately enable the corresponding backup gyroscope on this spatial measurement axis to output the angular velocity;

[0113] The configuration method of the high-efficiency and high-reliability six-axis gyro of the present invention performs redundant backup on the gyroscopes, uses the redundant structure to improve the reliability of the system, reduces the single-point fault modes and quantities existing in the system, and different types of gyroscopes can effectively cope with the faults caused by common cause failures.

[0114] Embodiment 1

[0115] The six-axis gyro system includes three fiber optic gyros and three MEMS gyros. The fiber optic gyro and the MEMS gyro on each axis form a redundant backup. Figure 1 It is a schematic diagram of the installation of the fiber optic gyro and the MEMS gyro provided by the embodiment of the present invention. The three fiber optic gyros and the three MEMS gyros simultaneously measure the angular velocities of three axes. When any one-axis fiber optic gyro fails, it automatically switches to the MEMS gyro on the corresponding axis. The specific configuration is as follows:

[0116] X-axis: Fiber optic gyroscope 1 and MEMS gyroscope 4 are configured.

[0117] Y-axis: Fiber optic gyroscope 2 and MEMS gyroscope 5 are configured.

[0118] Z-axis: Fiber optic gyroscope 3 and MEMS gyroscope 6 are configured.

[0119] If the output data of a certain gyroscope is abnormal, the system will trigger a fault handling process, such as Figure 4 shown, the fault handling process is as follows:

[0120] (1) If any gyroscope on a certain spatial measurement axis fails, the system will automatically select the angular velocity output of the backup gyroscope on the corresponding spatial measurement axis to ensure that the measurement data output on this spatial measurement axis is still valid.

[0121] (2) After enabling the angular velocity output of the backup gyroscope, the system will start the fault discrimination mode of the faulty gyroscope, and the faulty gyroscope will start the fault handling mechanism to determine whether the fault is caused by the processor;

[0122] (3) If it is a first processor fault, then start the backup second processor to output the angular velocity, judge the output result of the second processor, and at the same time perform a repair operation on the first processor;

[0123] If it is a second processor fault, then start the backup first processor to output the angular velocity, judge the output result of the first processor, and at the same time perform a repair operation on the second processor;

[0124] If the judgment result shows that it is not a processor fault, then directly determine that the gyroscope fails and stop it from participating in subsequent work;

[0125] (4) Reset and repair the current faulty processor;

[0126] In particular, whether it is the first processor or the second processor, if the repair is successful, then use this processor as the backup output channel; if the repair fails, then determine that the output channel corresponding to this processor fails.

[0127] After the output channel switching of the processor is completed, further detect whether the output result of the faulty gyroscope is correct: if one of the ports of the two processors corresponding to the faulty gyroscope has normal function, then the faulty gyroscope can still be used as a backup gyroscope; if both ports of the two processors fail, then the faulty gyroscope completely fails and cannot participate in subsequent tasks.

[0128] The present invention adopts a heterogeneous processor structure of FPGA + ARM, which is used for automatic fault switching and repair of the system when the fiber optic gyroscope fails. In this system, it is assumed that the fiber optic gyroscope on the X-axis fails. The angular velocity of the MEMS gyroscope on this axis is immediately enabled as an alternative output. At this time, the system can ensure continuous operation without interruption. At the same time, the system will start the fault repair mechanism of the fiber optic gyroscope, first discriminate the fault mode, and detect whether the fault is caused by a processor fault. If it is a processor fault, the system will try to repair the fault.

[0129] Furthermore, when an ARM processor fault occurs, the system will automatically switch to the FPGA processor and perform a reset operation on the ARM processor.

[0130] If the faulty fiber optic gyroscope is successfully repaired and restored to the normal working state, the system will reset this fiber optic gyroscope as the standby gyroscope for the next use. During this process, the MEMS gyroscope will be restored to the standby state, and the system will return to the normal configuration, using the fiber optic gyro as the main output source.

[0131] If the fiber optic gyro cannot be successfully repaired, the system will continue to rely on the MEMS gyro for data output to ensure the stable operation of the system in case of a fault and will not affect the overall performance.

[0132] Through the fault detection and repair mechanism of this embodiment, the system can efficiently manage the fault situation of the fiber optic gyro, achieve automatic switching, and ensure the continuous and stable operation of the system when the fiber optic gyro fails.

[0133] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention.

Claims

1. An efficient and highly reliable six-axis gyroscope, characterized in that, It includes three spatial measurement axes and a heterogeneous redundant dual-processor. The spatial measurement axes include coaxial gyroscope assembly one, coaxial gyroscope assembly two, and coaxial gyroscope assembly three respectively arranged on the measurement axis in the X-axis direction, the measurement axis in the Y-axis direction, and the measurement axis in the Z-axis direction; Each group of gyroscope assemblies includes an optical fiber gyroscope and a MEMS gyroscope; The heterogeneous redundant dual-processor includes a first processor and a second processor; In use, the optical fiber gyroscope and the MEMS gyroscope are mutually the primary gyroscope and the backup gyroscope; the first processor and the second processor are mutually the primary processor and the backup processor; Each optical fiber gyroscope and each MEMS gyroscope are connected to the first processor and the second processor respectively through corresponding ports to transmit the angular velocity.

2. The high-efficiency and high-reliability six-axis gyroscope according to claim 1, wherein It further includes a switching mechanism for respectively switching the primary gyroscope and the backup gyroscope, and the primary processor and the backup processor.

3. The high-efficiency and high-reliability six-axis gyroscope according to claim 1, characterized in that, The coaxial gyroscope assembly one includes an optical fiber gyroscope one (1) and a MEMS gyroscope one (4); The coaxial gyroscope assembly two includes an optical fiber gyroscope two (2) and a MEMS gyroscope two (5); The coaxial gyroscope assembly three includes an optical fiber gyroscope three (3) and a MEMS gyroscope three (6); The optical fiber gyroscope one (1), the optical fiber gyroscope two (2), and the optical fiber gyroscope three (3) are mutually orthogonal; the MEMS gyroscope one (4), the MEMS gyroscope two (5), and the MEMS gyroscope three (6) are mutually orthogonal.

4. The high-efficiency and high-reliability six-axis gyroscope according to claim 1, characterized in that, The first processor is an Advanced RISC Machine ARM, a Digital Signal Processor DSP, or a single-chip microcomputer; The second processor is a Field Programmable Gate Array FPGA processor or a Complex Programmable Logic Device CPLD.

5. The high-efficiency and high-reliability six-axis gyroscope according to claim 1, wherein The first processor and the second processor simultaneously receive the angular velocities of each optical fiber gyroscope and MEMS gyroscope corresponding to the spatial measurement axes.

6. An efficient and highly reliable six-axis gyroscope configuration method according to any one of claims 1-5, characterized in that, It includes: S1. Observe the output angular velocities of the six-axis gyro configured for the high-efficiency and high-reliability satellite on each spatial measurement axis, and check whether the primary gyroscope and the backup gyroscope on each spatial measurement axis are faulty; S2. When the primary gyroscope on any one spatial measurement axis fails, the heterogeneous redundant dual-processor outputs the angular velocity of the backup gyroscope on the same spatial measurement axis; S3. Detect whether the angular velocity of the backup gyroscope on the same spatial measurement axis is correct. If it is correct, the system works normally; If it is not correct, go to step S4; S4. Judge whether the primary processor of the faulty primary gyroscope is faulty; If not, the faulty primary gyroscope fails, return to step S2, and continue to detect the primary gyroscopes on other spatial measurement axes; If so, switch to the backup processor of the faulty primary gyroscope through the switching mechanism, and use the corresponding backup processor to output the angular velocity of the faulty optical fiber gyroscope, and enter step S5; Meanwhile, reset the faulty primary processor to obtain the reset primary processor, and judge whether the reset primary processor is successfully reset. If it is successful, enter step S6. If it is not successful, the corresponding processor fails, and enter step S7; S5. Check whether the angular velocity output by the backup processor of the failed primary gyroscope is correct. If it is, use the corresponding backup processor as the primary processor of the failed primary gyroscope; if not, reset the failed backup processor to obtain the reset backup processor, and determine whether the reset backup processor is successfully reset. If it is successful, go to step S6; if not, the corresponding processor fails and go to step S7; S6. Determine whether both the primary processor and the backup processor of the failed primary gyroscope have been reset. If so, use the processor that was successfully reset first as the primary processor of the failed primary gyroscope, and use the other processor as the corresponding backup processor, then go to step S7; S7. Traverse the primary gyroscopes of each spatial measurement axis to complete the six-axis gyro configuration.

7. The high-efficiency and high-reliability six-axis gyroscope configuration method according to claim 6, wherein When the primary gyroscope on the spatial measurement axis is an optical fiber gyroscope, the specific steps for detecting whether a failure has occurred include: Judge whether the real-time estimated value of the random walk coefficient of the optical fiber gyroscope is greater than the maximum predicted value of the random walk coefficient of the optical fiber gyroscope according to the random walk coefficient prediction model; if not, the optical fiber gyroscope is in a normal working state; if so, the optical fiber gyroscope has failed.

8. The high-efficiency and high-reliability six-axis gyroscope configuration method according to claim 6, characterized in that When the primary gyroscope on the spatial measurement axis is a MEMS gyroscope, the specific steps for detecting whether a failure has occurred include: Obtain the real-time output data accuracy of the MEMS gyroscope and the optical fiber gyroscope on the same spatial measurement axis; Compare the real-time output data accuracy of the MEMS gyroscope with the real-time output data accuracy of the optical fiber gyroscope on the same spatial measurement axis to obtain the real-time output data accuracy difference; If the real-time output data accuracy difference significantly exceeds the preset output accuracy difference value, it is a failure; if not, it is not a failure.

9. The high-efficiency and high-reliability six-axis gyroscope configuration method according to claim 7, characterized in that The expression of the random walk coefficient prediction model is: Among them, RWC represents the random walk coefficient of the fiber optic gyroscope, λ represents the optical wavelength, c represents the propagation speed of light in vacuum, L represents the length of the fiber optic loop, D represents the diameter of the fiber optic loop, e represents the electron charge, η represents the responsivity of the detector, P0 represents the power of the light source coupled into the optical path, A c represents the optical path loss, q is the first constant, b is the second constant, d′ is the radiation dose, Δv represents the spectral bandwidth of the light source, I d represents the dark current of the detector, k represents the Boltzmann constant, T represents the absolute temperature, and R represents the transimpedance of the detector.

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