CN103471615B - A kind of two Detection for Redundant Inertial Navigation quick fault testing method - Google Patents

Abstract

The invention belongs to inertial navigation technology field, be specifically related to a kind of two Detection for Redundant Inertial Navigation quick fault testing method. Method of the present invention comprises the following steps: bottom inertial navigation fault detect, navigation software internal fault detect and interface control software internal fault detects. Method of the present invention has solved the technical problem that the of the prior art pair of Detection for Redundant Inertial Navigation fault detection method detection efficiency is low, be difficult to locate concrete defective device; Can detect in real time inertia device and the key signal of the cover of two in partial reference inertial navigation system, detection efficiency is high, can accurately locate defective device, for the normal work of partial reference provides safeguard.

Description

A kind of two Detection for Redundant Inertial Navigation quick fault testing method

Technical field

The invention belongs to inertial navigation technology field, be specifically related to a kind of two quick fault of Detection for Redundant Inertial NavigationDetection method.

Background technology

In modern aerospace cause, the reliability of navigation and guidance system is that Weapon System Reliability is " shortPlate ", the reliability that how to improve inertial navigation system is a difficulty in Weapon System Engineering application alwaysTopic.

The reliability that improves inertial navigation system adopts following two kinds of methods conventionally: the one, improve system coreThe reliability of component accelerometer and gyro; The 2nd, adopt Redundancy Design, by increasing redundant sensorBuild the system of high reliability. In above-mentioned two kinds of methods, improve single accelerometer, gyrostatic reliableProperty be the most basic method, but due to the restriction of the factor such as technical merit and funds, be difficult to pass through merelyImprove inertance element performance and strengthen inertial navigation system reliability; And improve inertial navigation system by redundancyReliability be not only economy but also practicable technological means.

The redundancy adopting at present mostly both at home and abroad is system-level redundancy, adopts two covers or two covers aboveInertial navigation system is the scheme of Hot Spare each other, when certain a set of inertial navigation system breaks down, directly switches outputThe navigation information of another set of inertial navigation system. System-level redundancy have reliability high, control flexibly, be convenient to realityThe advantages such as existing different types of information comprehensive utilization, have now been widely used in manned space flight, survey of deep space, armyThe working times such as civil aviation are length, the high occasion of security requirement extremely.

Many Detection for Redundant Inertial Navigations fault detection method detection efficiency of the prior art is low, it is concrete to be difficult to locationDefective device.

Summary of the invention

The technical issues that need to address of the present invention are: of the prior art pair of Detection for Redundant Inertial Navigation fault detectMethod detection efficiency is low, be difficult to locate concrete defective device.

Technical scheme of the present invention is as described below:

A kind of two Detection for Redundant Inertial Navigation quick fault testing method, is characterized in that: comprise the following steps:Step 1. bottom inertial navigation fault detect; Step 2. navigation software internal fault detects; The control of step 3. interface is softPart internal fault detects.

Step 1 comprises the following steps:

Respectively partial reference two cover single inertial navigation system pretreatment software in carry out IMU inertia measurement groupPart fault detect: if two cover inertial navigation system testing results are all normal, carry out step 2, continue normal workMake flow process; If a set of inertial navigation system breaks down, switch the normal another set of inertial navigation of output detections resultThe navigation data of system; If two cover inertial navigation systems all break down, forward output primary standard data.

The Detection of content of described IMU inertial measurement cluster fault detect comprises following six aspects:

A) whether the temperature of three direction laser gyroes is normal;

B) whether the machine of three direction laser gyroes to tremble signal normal;

C) whether the starter signal of three direction laser gyroes is normal;

D) whether three direction laser gyroes is normal with frequency signal;

E) whether the temperature of three direction quartz flexible accelerometers is normal;

F) whether the original burst signal of three direction quartz flexible accelerometers is normal.

Step 2 comprises the following steps:

In partial reference, the IMU inertial measurement cluster of every suit list inertial navigation system is by gyro and accelerometerOriginal pulse value exports in its corresponding navigation software, in navigation software to carrying out navigation results detection:If two cover inertial navigation system testing results are all normal, carry out step 3, continue normal workflow; If oneCover inertial navigation system breaks down, and switches the navigation number of the normal another set of inertial navigation system of output detections resultAccording to; If two cover inertial navigation systems all break down, forward output primary standard data.

The Detection of content that described navigation results detects comprises following eight aspects:

A) whether INT0 interrupts overtime;

B) whether FLASH read-write is abnormal;

C) whether initialization bookbinding is failed;

D) whether hardware initialization is failed;

E) whether the acceleration of three directions is overproof:

The acceleration upper limit according to following formula to the quartz flexible accelerometer output in three directions of x, y, zValue judges, if acceleration is overproof, and the system failure:

$\left\{\begin{array}{c}\left|Ax\right|<5g\\ \left|Ay\right|<6g\\ \left|Az\right|<5g\end{array}\right.$

In formula,

Ax, Ay, Az are followed successively by the quartz flexible accelerometer output acceleration of x, y, z direction;

G is acceleration of gravity;

F) whether the angular speed of three directions is overproof:

According to following formula, the angular speed higher limit of the laser gyro output in three directions of x, y, z is sentencedDisconnected, if angular speed is overproof, the system failure:

In formula,

Gx, Gy, Gz are followed successively by the laser gyro Output speed of x, y, z direction;

G) whether the north orientation of navigation calculation and east orientation speed is overproof:

Adopt following formula to judge inertial navigation output speed, if speed is overproof, the system failure:

$\sqrt{{\left(V_{out}^N\right)}^2+{\left(V_{out}^E\right)}^2}<V_{max}$

In formula,

For the north orientation speed of navigation calculation;

For the east orientation speed of navigation calculation;

V_maxFor warship maximum speed, in the present embodiment, warship maximum speed is 30m/s;

H) whether three of navigation calculation attitude angle are overproof:

Adopt following formula to judge inertial navigation output attitude angle, if attitude angle is overproof, the system failure:

$\left\{\begin{array}{c}\left|roll\right|<{\mathrm{Angle}}_{\max }\\ \left|pitch\right|<{\mathrm{Angle}}_{\max }\end{array}\right.$

In formula,

Roll is the roll angle of navigation calculation;

Pitch is the angle of pitch of navigation calculation;

Angle_maxFor warship maximum horizontal attitude angle.

Step 3 comprises the following steps:

Step 3.1. inertial error is estimated the detection of card side

Set up observational equation:

Z＝H·X+v

Wherein, $\left\{\begin{array}{c}X=\&lsqb;\begin{array}{ccccccccc}{\stackrel{\&CenterDot;}{\mathrm{\&phi;}}}_{ax}& {\stackrel{\&CenterDot;}{\mathrm{\&phi;}}}_{ay}& {\stackrel{\&CenterDot;}{\mathrm{\&phi;}}}_{az}& {\stackrel{\&CenterDot;}{\mathrm{\&epsiv;}}}_x& {\stackrel{\&CenterDot;}{\mathrm{\&epsiv;}}}_y& {\stackrel{\&CenterDot;}{\mathrm{\&epsiv;}}}_z& {\stackrel{\&CenterDot;}{\mathrm{\&Delta;}}}_x& {\stackrel{\&CenterDot;}{\mathrm{\&Delta;}}}_y& {\stackrel{\&CenterDot;}{\mathrm{\&Delta;}}}_z\end{array}\&rsqb;\\ H=\left[\begin{array}{ccccccccc}0& -{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_z& {\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_y& 1& 0& 0& 0& 0& 0\\ {\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_z& 0& -{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_x& 0& 1& 0& 0& 0& 0\\ -{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_y& {\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_x& 0& 0& 0& 1& 0& 0& 0\\ 0& -{\stackrel{\&OverBar;}{f}}_z& {\stackrel{\&OverBar;}{f}}_y& 0& 0& 0& 1& 0& 0\\ {\stackrel{\&OverBar;}{f}}_z& 0& -{\stackrel{\&OverBar;}{f}}_x& 0& 0& 0& 0& 1& 0\\ -{\stackrel{\&OverBar;}{f}}_y& {\stackrel{\&OverBar;}{f}}_x& 0& 0& 0& 0& 0& 0& 1\end{array}\right]\\ Z=\left[\begin{array}{c}{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{x1}\left(t_k\right)-{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{x2}\left(t_k\right)\\ {\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{y1}\left(t_k\right)-{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{y2}\left(t_k\right)\\ {\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{z1}\left(t_k\right)-{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{z2}\left(t_k\right)\\ {\stackrel{\&OverBar;}{f}}_{x1}\left(t_k\right)-{\stackrel{\&OverBar;}{f}}_{x2}\left(t_k\right)\\ {\stackrel{\&OverBar;}{f}}_{y1}\left(t_k\right)-{\stackrel{\&OverBar;}{f}}_{y2}\left(t_k\right)\\ {\stackrel{\&OverBar;}{f}}_{z1}\left(t_k\right)-{\stackrel{\&OverBar;}{f}}_{z2}\left(t_k\right)\end{array}\right]\end{array}\right.$

In formula,

X initial value is 0;

Be followed successively by the alignment error angle of x, y, z direction between two cover inertial navigations;

Be followed successively by the gyroscopic drift of x, y, z direction between two cover inertial navigations;

Be followed successively by the accelerometer bias of x, y, z direction between two cover inertial navigations;

Z is observation vector;

Be followed successively by inertial navigation system 1 within a fault detect cycle x, y,The mean angular velocity of z direction;

Be followed successively by inertial navigation system 2 within a fault detect cycle x, y,The mean angular velocity of z direction;

Be followed successively by inertial navigation system 1 x, y, z within a fault detect cycleThe average acceleration of direction;

Be followed successively by inertial navigation system 2 within a fault detect cycle x, y,The average acceleration of z direction;

H is observed differential matrix;

${\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_x$ For the x orientation average angular speed of inertial navigation system 1 and inertial navigation system 2,

For the y orientation average angular speed of inertial navigation system 1 and inertial navigation system 2, ${\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_y=\&lsqb;{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{y1}\left(t_k\right)+{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{y2}\left(t_k\right)\&rsqb;/2;$

For the z orientation average angular speed of inertial navigation system 1 and inertial navigation system 2,

V is observation noise;

The residual error r of k step_kBe shown below:

$r_k=Z_k-H_k{\hat{X}}_k,$

Wherein, ${\hat{X}}_k={\mathrm{\&Phi;}}_{k/k-1}{\hat{X}}_{k-1}.$

In formula,

r_kIt is k step residual error;

It is k step predicted value;

Φ_k/k-1Be the transfer matrix of (k-1) step to k step;

If A_kFor r_kVariance, fault detect function corresponding to each observed quantity is shown below:

$\left\{\begin{array}{c}{\mathrm{\&lambda;}}_k\_\mathrm{\&omega;}x=r_k\left(1\right)A_k^{-1}\left(1,1\right)r_k\left(1\right)\\ {\mathrm{\&lambda;}}_k\_\mathrm{\&omega;}y=r_k\left(2\right)A_k^{-1}\left(2,2\right)r_k\left(2\right)\\ {\mathrm{\&lambda;}}_k\_\mathrm{\&omega;}z=r_k\left(3\right)A_k^{-1}\left(3,3\right)r_k\left(3\right)\\ {\mathrm{\&lambda;}}_k\_ax=r_k\left(4\right)A_k^{-1}\left(4,4\right)r_k\left(4\right)\\ {\mathrm{\&lambda;}}_k\_ay=r_k\left(5\right)A_k^{-1}\left(5,5\right)r_k\left(5\right)\\ {\mathrm{\&lambda;}}_k\_az=r_k\left(6\right)A_k^{-1}\left(6,6\right)r_k\left(6\right)\end{array}\right.,$

Each observed quantity is set respectively to card side's threshold value, when fault detect function numerical value corresponding to each observed quantityBe greater than described card side threshold value, judge that device corresponding to this observed quantity breaks down;

The concrete defective device of step 3.2. detects

The inertia device that adopts following formula to calculate two cover inertial navigation systems is exported the absolute value of every frame variable quantity:

$\left\{\begin{array}{c}{\mathrm{d\&omega;}}_{1i}\left(t_k\right)=\left|{\mathrm{\&omega;}}_{1i}\left(t_k\right)-{\mathrm{\&omega;}}_{1i}\left(t_k-1\right)\right|\\ {\mathrm{df}}_{1i}\left(t_k\right)=\left|f_{1i}\left(t_k\right)-f_{1i}\left(t_k-1\right)\right|\\ {\mathrm{d\&omega;}}_{2i}\left(t_k\right)=\left|{\mathrm{\&omega;}}_{2i}\left(t_k\right)-{\mathrm{\&omega;}}_{2i}\left(t_k-1\right)\right|\\ {\mathrm{df}}_{2i}\left(t_k\right)=\left|f_{2i}\left(t_k\right)-f_{2i}\left(t_k-1\right)\right|\end{array}\right.,$ i＝x,y,z

In formula,

dω_1i(t_k) be i direction inertial navigation system 1 present frame angular velocity varies amount;

df_1i(t_k) be i direction inertial navigation system 1 present frame acceleration change amount;

dω_2i(t_k) be i direction inertial navigation system 2 present frame angular velocity varies amounts;

df_2i(t_k) be i direction inertial navigation system 2 present frame acceleration change amounts;

ω_1i(t_k)、ω_1i(t_k-1) be followed successively by i direction inertial navigation system 1 present frame, former frame angular speed output valve;

f_1i(t_k)、f_1i(t_k-1) be followed successively by i direction inertial navigation system 1 present frame, former frame acceleration output valve;

ω_2i(t_k)、ω_2i(t_k-1) be followed successively by i direction inertial navigation system 2 present frames, former frame angular speed output valve;

f_2i(t_k)、f_2i(t_k-1) be followed successively by i direction inertial navigation system 2 present frames, former frame acceleration output valve;

For the maximum of every frame variable quantity absolute value in the fault detect cycle, be designated as d ω_{1i_MAX}、df_{1i_MAX}、dω_{2i_MAX}、df_{2i_MAX}, i=x, y, z; By in inertial navigation system 1, the same direction of inertial navigation system 2The maximum of variable quantity absolute value is poor, that is:

$\left\{\begin{array}{c}{\mathrm{d\&omega;}}_i={\mathrm{d\&omega;}}_{1i\_MAX}-{\mathrm{d\&omega;}}_{2i\_MAX}\\ {\mathrm{df}}_i={\mathrm{df}}_{1i\_MAX}-{\mathrm{df}}_{2i\_MAX}\end{array}\right.$

If d is ω_iOr df_iBe greater than given positive threshold value T_positive, judge inertial navigation system 1 device fault; Ifdω_iOr df_iBe less than given negative threshold value T_negative, judge inertial navigation system 2 device faults; Otherwise judgeThe equal fault-free of inertia device.

Beneficial effect of the present invention is:

(1) of the present invention pair of Detection for Redundant Inertial Navigation quick fault testing method, can be in partial referenceInertia device and the key signal of two cover inertial navigation systems detect in real time, and detection efficiency is high, is local loopAccurate normal work provides safeguard;

(2) of the present invention pair of Detection for Redundant Inertial Navigation quick fault testing method, can accurately locate fault devicePart;

(3) of the present invention pair of Detection for Redundant Inertial Navigation quick fault testing method, can examine quickly and accuratelyMeasure each quasi-representative inertial navigation fault, and switch voluntarily the navigation data of the normal inertial navigation of output.

Brief description of the drawings

Fig. 1 is partial reference overhaul flow chart.

Detailed description of the invention

Below in conjunction with drawings and Examples, of the present invention pair of Detection for Redundant Inertial Navigation quick fault testing method enteredRow describes in detail.

Of the present invention pair of Detection for Redundant Inertial Navigation quick fault testing method, comprises the following steps: first,In the inertial measurement cluster pretreatment software of two cover inertial navigation systems, bottom fault is detected; Afterwards, existIn the navigation software of two cover inertial navigation systems, navigation results is detected; Finally, in interface control softwareAngular speed by two cover inertial navigation systems relatively, acceleration to jumping figure, the typical fault such as float slowly and detect.

Step 1. bottom inertial navigation fault detect

Respectively partial reference two cover single inertial navigation system pretreatment software in carry out IMU inertia measurementComponent faults detects: if two cover inertial navigation system testing results are all normal, carry out step 2, continue normalWorkflow; If a set of inertial navigation system breaks down, switch normal another set of being used to of output detections resultThe navigation data of guiding systems; If two cover inertial navigation systems all break down, forward output primary standard data.

The Detection of content of described IMU inertial measurement cluster fault detect comprises following six aspects, and it is concreteDetection method is known to the skilled person general knowledge:

A) whether the temperature of three direction laser gyroes is normal;

B) whether the machine of three direction laser gyroes to tremble signal normal;

C) whether the starter signal of three direction laser gyroes is normal;

D) whether three direction laser gyroes is normal with frequency signal;

E) whether the temperature of three direction quartz flexible accelerometers is normal;

F) whether the original burst signal of three direction quartz flexible accelerometers is normal.

Step 2. navigation software internal fault detects

In partial reference, the IMU inertial measurement cluster of every suit list inertial navigation system is by gyro and accelerometerOriginal pulse value exports in its corresponding navigation software, is angle speed through calibration compensation, dynamic error compensationDegree and acceleration, and complete navigation calculation, in navigation software to carrying out navigation results detection: if two coversInertial navigation system testing result is all normal, carry out step 3, continues normal workflow; If a set of inertial navigationSystem breaks down, and switches the navigation data of the normal another set of inertial navigation system of output detections result; IfTwo cover inertial navigation systems all break down, and forward output primary standard data.

The Detection of content that described navigation results detects comprises following eight aspects:

A) whether INT0 interrupts overtime

INT0 interrupts for navigation cycle interruption, exceedes preset navigation cycle INT0 and interrupts interrupting being not yetOvertime, show the system failure, the object of this judgement is whether to detect pretreatment software and navigation software communicationExtremely.

B) whether FLASH read-write is abnormal

In the time that starting initialization, system need to read FLASH parameter, if FLASH reads extremely,Show the system failure; In system calibration process, need to write FLASH parameter, different if FLASH writesChang Ze shows this Write fault of system, but system fault-free. Described FLASH reads extremely, writes differentNormal criterion is known to the skilled person general knowledge.

C) whether initialization bookbinding is failed

When initial binding, need to carry out validity judgement to external information: if external information is invalid, initial bindingFailure. Interface control software needs this state to offer MISSILE LAUNCHING coordinated management machine, but system fault-free,System still waits for that effective information binds, until bind successfully.

D) whether hardware initialization is failed

System judges hardware initialization state while starting initialization, if hardware initialization failure,Representative system fault.

E) whether the acceleration of three directions is overproof

The acceleration upper limit according to following formula to the quartz flexible accelerometer output in three directions of x, y, zValue judges, if acceleration is overproof, and the system failure:

$\left\{\begin{array}{c}\left|Ax\right|<5g\\ \left|Ay\right|<6g\\ \left|Az\right|<5g\end{array}\right.$

In formula,

Ax, Ay, Az are followed successively by the quartz flexible accelerometer output acceleration of x, y, z direction;

G is acceleration of gravity.

F) whether the angular speed of three directions is overproof

According to following formula, the angular speed higher limit of the laser gyro output in three directions of x, y, z is sentencedDisconnected, if angular speed is overproof, the system failure:

In formula,

Gx, Gy, Gz are followed successively by the laser gyro Output speed of x, y, z direction.

G) whether the north orientation of navigation calculation and east orientation speed is overproof

According to the warship speed of a ship or plane, inertial navigation output speed is done to judge it is a kind of effectively fault detection method, adoptFollowing formula judges inertial navigation output speed, if speed is overproof, and the system failure:

$\sqrt{{\left(V_{out}^N\right)}^2+{\left(V_{out}^E\right)}^2}<V_{max}$

In formula,

For the north orientation speed of navigation calculation;

For the east orientation speed of navigation calculation;

V_maxFor warship maximum speed, in the present embodiment, warship maximum speed is 30m/s.

H) whether three of navigation calculation attitude angle are overproof

According to the horizontal attitude angle of warship, inertial navigation output attitude is done to judge it is a kind of effectively fault detect sideMethod, adopts following formula to judge inertial navigation output attitude angle, if attitude angle is overproof, and the system failure:

$\left\{\begin{array}{c}\left|roll\right|<{\mathrm{Angle}}_{\max }\\ \left|pitch\right|<{\mathrm{Angle}}_{\max }\end{array}\right.$

In formula,

Roll is the roll angle of navigation calculation;

Pitch is the angle of pitch of navigation calculation;

Angle_maxFor warship maximum horizontal attitude angle, in the present embodiment, warship maximum horizontal attitude angle is 50 °.

Step 3. interface control software internal fault detects

If step 1, step 2 all do not detect fault, by the angular speed of two cover inertial navigation systems and accelerationDegree is sent to interface control software, and is ensured the synchronism of two cover inertial navigation systems by the Timing System on warship,In interface control software, complete two inertial navigations and sentence mutually fault detect.

Step 3.1. inertial error is estimated the detection of card side

Adopt Kalman Filter Technology to carry out inertial error and estimate the detection of card side.

Set up observational equation:

Z＝H·X+v

Wherein, $\left\{\begin{array}{c}X=\&lsqb;\begin{array}{ccccccccc}{\stackrel{\&CenterDot;}{\mathrm{\&phi;}}}_{ax}& {\stackrel{\&CenterDot;}{\mathrm{\&phi;}}}_{ay}& {\stackrel{\&CenterDot;}{\mathrm{\&phi;}}}_{az}& {\stackrel{\&CenterDot;}{\mathrm{\&epsiv;}}}_x& {\stackrel{\&CenterDot;}{\mathrm{\&epsiv;}}}_y& {\stackrel{\&CenterDot;}{\mathrm{\&epsiv;}}}_z& {\stackrel{\&CenterDot;}{\mathrm{\&Delta;}}}_x& {\stackrel{\&CenterDot;}{\mathrm{\&Delta;}}}_y& {\stackrel{\&CenterDot;}{\mathrm{\&Delta;}}}_z\end{array}\&rsqb;\\ H=\left[\begin{array}{ccccccccc}0& -{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_z& {\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_y& 1& 0& 0& 0& 0& 0\\ {\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_z& 0& -{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_x& 0& 1& 0& 0& 0& 0\\ -{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_y& {\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_x& 0& 0& 0& 1& 0& 0& 0\\ 0& -{\stackrel{\&OverBar;}{f}}_z& {\stackrel{\&OverBar;}{f}}_y& 0& 0& 0& 1& 0& 0\\ {\stackrel{\&OverBar;}{f}}_z& 0& -{\stackrel{\&OverBar;}{f}}_x& 0& 0& 0& 0& 1& 0\\ -{\stackrel{\&OverBar;}{f}}_y& {\stackrel{\&OverBar;}{f}}_x& 0& 0& 0& 0& 0& 0& 1\end{array}\right]\\ Z=\left[\begin{array}{c}{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{x1}\left(t_k\right)-{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{x2}\left(t_k\right)\\ {\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{y1}\left(t_k\right)-{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{y2}\left(t_k\right)\\ {\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{z1}\left(t_k\right)-{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{z2}\left(t_k\right)\\ {\stackrel{\&OverBar;}{f}}_{x1}\left(t_k\right)-{\stackrel{\&OverBar;}{f}}_{x2}\left(t_k\right)\\ {\stackrel{\&OverBar;}{f}}_{y1}\left(t_k\right)-{\stackrel{\&OverBar;}{f}}_{y2}\left(t_k\right)\\ {\stackrel{\&OverBar;}{f}}_{z1}\left(t_k\right)-{\stackrel{\&OverBar;}{f}}_{z2}\left(t_k\right)\end{array}\right]\end{array}\right.$

In formula,

X initial value is 0;

Be followed successively by the alignment error angle of x, y, z direction between two cover inertial navigations;

Be followed successively by the gyroscopic drift of x, y, z direction between two cover inertial navigations;

Be followed successively by the accelerometer bias of x, y, z direction between two cover inertial navigations;

Z is observation vector;

Be followed successively by inertial navigation system 1 within a fault detect cycle x, y,The mean angular velocity of z direction;

Be followed successively by inertial navigation system 2 within a fault detect cycle x, y,The mean angular velocity of z direction;

Be followed successively by inertial navigation system 1 x, y, z within a fault detect cycleThe average acceleration of direction;

Be followed successively by inertial navigation system 2 within a fault detect cycle x, y,The average acceleration of z direction;

H is observed differential matrix;

For the x orientation average angular speed of inertial navigation system 1 and inertial navigation system 2,

For the y orientation average angular speed of inertial navigation system 1 and inertial navigation system 2, ${\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_y=\&lsqb;{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{y1}\left(t_k\right)+{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{y2}\left(t_k\right)\&rsqb;/2;$

For the z orientation average angular speed of inertial navigation system 1 and inertial navigation system 2,

V is observation noise.

The residual error r of k step_kBe shown below:

$r_k=Z_k-H_k{\hat{X}}_k,$

Wherein, ${\hat{X}}_k={\mathrm{\&Phi;}}_{k/k-1}{\hat{X}}_{k-1}.$

In formula,

r_kIt is k step residual error;

It is k step predicted value;

Φ_k/k-1Be the transfer matrix of (k-1) step to k step.

If A_kFor r_kVariance, fault detect function corresponding to each observed quantity is shown below:

$\left\{\begin{array}{c}{\mathrm{\&lambda;}}_k\_\mathrm{\&omega;}x=r_k\left(1\right)A_k^{-1}\left(1,1\right)r_k\left(1\right)\\ {\mathrm{\&lambda;}}_k\_\mathrm{\&omega;}y=r_k\left(2\right)A_k^{-1}\left(2,2\right)r_k\left(2\right)\\ {\mathrm{\&lambda;}}_k\_\mathrm{\&omega;}z=r_k\left(3\right)A_k^{-1}\left(3,3\right)r_k\left(3\right)\\ {\mathrm{\&lambda;}}_k\_ax=r_k\left(4\right)A_k^{-1}\left(4,4\right)r_k\left(4\right)\\ {\mathrm{\&lambda;}}_k\_ay=r_k\left(5\right)A_k^{-1}\left(5,5\right)r_k\left(5\right)\\ {\mathrm{\&lambda;}}_k\_az=r_k\left(6\right)A_k^{-1}\left(6,6\right)r_k\left(6\right)\end{array}\right.,$

For fault detect function corresponding to each observed quantity, all obey χ²Distribute. When certain device of system is sent outRaw fault, when inertia device output abnormality, Z_kNumerical value withNumerical value will there is bigger difference, enterAnd affect r_k, produce larger chi-square value. Such as jump failure appears in device, this will cause r_kAlso produce saltus step,Make corresponding chi-square value become large, therefore can carry out detection failure, decision criteria by the setting side of card threshold valueAs described below: each observed quantity to be set respectively to card side's threshold value, when fault detect letter corresponding to each observed quantityNumber numerical value is greater than described card side threshold value, judges that device corresponding to this observed quantity breaks down. If λ_k_ ω x is greater than described card side threshold value, judges observed quantityThere is event in corresponding deviceBarrier, the device that mean angular velocity of x direction is corresponding breaks down.

Adopt inertial error to estimate the detection of card side, the inertia device that can locate a direction breaks down,Then by step 3.2, the device breaking down in location is positioned at inertial navigation system 1 or inertia system 2, fixedThe concrete defective device in position.

The concrete defective device of step 3.2. detects

The inertia device that adopts following formula to calculate two cover inertial navigation systems is exported the absolute value of every frame variable quantity:

$\left\{\begin{array}{c}{\mathrm{d\&omega;}}_{1i}\left(t_k\right)=\left|{\mathrm{\&omega;}}_{1i}\left(t_k\right)-{\mathrm{\&omega;}}_{1i}\left(t_k-1\right)\right|\\ {\mathrm{df}}_{1i}\left(t_k\right)=\left|f_{1i}\left(t_k\right)-f_{1i}\left(t_k-1\right)\right|\\ {\mathrm{d\&omega;}}_{2i}\left(t_k\right)=\left|{\mathrm{\&omega;}}_{2i}\left(t_k\right)-{\mathrm{\&omega;}}_{2i}\left(t_k-1\right)\right|\\ {\mathrm{df}}_{2i}\left(t_k\right)=\left|f_{2i}\left(t_k\right)-f_{2i}\left(t_k-1\right)\right|\end{array}\right.,$ (i＝x,y,z)

In formula,

dω_1i(t_k) be i direction inertial navigation system 1 present frame angular velocity varies amount;

df_1i(t_k) be i direction inertial navigation system 1 present frame acceleration change amount;

dω_2i(t_k) be i direction inertial navigation system 2 present frame angular velocity varies amounts;

df_2i(t_k) be i direction inertial navigation system 2 present frame acceleration change amounts;

ω_1i(t_k)、ω_1i(t_k-1) be followed successively by i direction inertial navigation system 1 present frame, former frame angular speed output valve;

f_1i(t_k)、f_1i(t_k-1) be followed successively by i direction inertial navigation system 1 present frame, former frame acceleration output valve;

ω_2i(t_k)、ω_2i(t_k-1) be followed successively by i direction inertial navigation system 2 present frames, former frame angular speed output valve;

f_2i(t_k)、f_2i(t_k-1) be followed successively by i direction inertial navigation system 2 present frames, former frame acceleration output valve.

In the present embodiment, every 5ms mono-frame, each fault detect cycle is 25ms.

For the maximum of every frame variable quantity absolute value in the fault detect cycle, be designated as d ω_{1i_MAX}、df_{1i_MAX}、dω_{2i_MAX}、df_{2i_MAX}, i=x, y, z; By in inertial navigation system 1, the same direction of inertial navigation system 2The maximum of variable quantity absolute value is poor, that is:

$\{\begin{array}{c}{\mathrm{d\&omega;}}_i={\mathrm{d\&omega;}}_{1i\_MAX}-{\mathrm{d\&omega;}}_{2i\_MAX}\\ {\mathrm{df}}_i={\mathrm{df}}_{1i\_MAX}-{\mathrm{df}}_{2i\_MAX}\end{array},$

If d is ω_iOr df_iBe greater than given positive threshold value T_positive, judge inertial navigation system 1 device fault; Ifdω_iOr df_iBe less than given negative threshold value T_negative, judge inertial navigation system 2 device faults; Otherwise judgeThe equal fault-free of inertia device.

Described positive threshold value T_positive, negative threshold value T_negative set according to actual conditions, and this is abilityField technique personnel common practise.

Claims (2)

1. two Detection for Redundant Inertial Navigation quick fault testing methods, is characterized in that: comprise the following steps:Step 1. bottom inertial navigation fault detect; Step 2. navigation software internal fault detects; The control of step 3. interface is softPart internal fault detects;

Step 1 comprises the following steps:

Respectively partial reference two cover single inertial navigation system pretreatment software in carry out IMU inertia measurementComponent faults detects: if two cover inertial navigation system testing results are all normal, carry out step 2, continue normalWorkflow; If a set of inertial navigation system breaks down, switch normal another set of being used to of output detections resultThe navigation data of guiding systems; If two cover inertial navigation systems all break down, forward output primary standard data;

In step 1, the Detection of content of described IMU inertial measurement cluster fault detect comprises following six sidesFace:

A) whether the temperature of three direction laser gyroes is normal;

B) whether the machine of three direction laser gyroes to tremble signal normal;

C) whether the starter signal of three direction laser gyroes is normal;

D) whether three direction laser gyroes is normal with frequency signal;

E) whether the temperature of three direction quartz flexible accelerometers is normal;

F) whether the original burst signal of three direction quartz flexible accelerometers is normal;

Step 2 comprises the following steps:

In partial reference, the IMU inertial measurement cluster of every suit list inertial navigation system is by gyro and accelerometerOriginal pulse value exports in its corresponding navigation software, in navigation software to carrying out navigation results detection:If two cover inertial navigation system testing results are all normal, carry out step 3, continue normal workflow; If oneCover inertial navigation system breaks down, and switches the navigation number of the normal another set of inertial navigation system of output detections resultAccording to; If two cover inertial navigation systems all break down, forward output primary standard data;

In step 2, the Detection of content that described navigation results detects comprises following eight aspects:

A) whether INT0 interrupts overtime;

B) whether FLASH read-write is abnormal;

C) whether initialization bookbinding is failed;

D) whether hardware initialization is failed;

E) whether the acceleration of three directions is overproof:

The acceleration upper limit according to following formula to the quartz flexible accelerometer output in three directions of x, y, zValue judges, if acceleration is overproof, and the system failure:

$\left\{\begin{array}{c}\left|Ax\right|<5g\\ \left|Ay\right|<6g\\ \left|Az\right|<5g\end{array}\right.$

In formula,

Ax, Ay, Az are followed successively by the quartz flexible accelerometer output acceleration of x, y, z direction;

G is acceleration of gravity;

F) whether the angular speed of three directions is overproof:

According to following formula, the angular speed higher limit of the laser gyro output in three directions of x, y, z is sentencedDisconnected, if angular speed is overproof, the system failure:

In formula,

Gx, Gy, Gz are followed successively by the laser gyro Output speed of x, y, z direction;

G) whether the north orientation of navigation calculation and east orientation speed is overproof:

Adopt following formula to judge inertial navigation output speed, if speed is overproof, the system failure:

$\sqrt{{\left(V_{out}^N\right)}^2+{\left(V_{out}^E\right)}^2}<V_{max}$

In formula,

For the north orientation speed of navigation calculation;

For the east orientation speed of navigation calculation;

V_maxFor warship maximum speed, in the present embodiment, warship maximum speed is 30m/s;

H) whether three of navigation calculation attitude angle are overproof:

Adopt following formula to judge inertial navigation output attitude angle, if attitude angle is overproof, the system failure:

$\left\{\begin{array}{c}\left|roll\right|<Angl{e}_{max}\\ \left|pitch\right|<{\mathrm{Angle}}_{max}\end{array}\right.$

In formula,

Roll is the roll angle of navigation calculation;

Pitch is the angle of pitch of navigation calculation;

Angle_maxFor warship maximum horizontal attitude angle.

2. according to claim 1 pair of Detection for Redundant Inertial Navigation quick fault testing method, its feature existsIn: step 3 comprises the following steps:

Step 3.1. inertial error is estimated the detection of card side

Set up observational equation:

Z＝H·X+v

Wherein, $\left\{\begin{array}{c}X=\left[\begin{array}{ccccccccc}{\stackrel{\&CenterDot;}{\mathrm{\&phi;}}}_{ax}& {\stackrel{\&CenterDot;}{\mathrm{\&phi;}}}_{ay}& {\stackrel{\&CenterDot;}{\mathrm{\&phi;}}}_{az}& {\stackrel{\&CenterDot;}{\mathrm{\&epsiv;}}}_x& {\stackrel{\&CenterDot;}{\mathrm{\&epsiv;}}}_y& {\stackrel{\&CenterDot;}{\mathrm{\&epsiv;}}}_z& {\stackrel{\&CenterDot;}{\mathrm{\&Delta;}}}_x& {\stackrel{\&CenterDot;}{\mathrm{\&Delta;}}}_y& {\stackrel{\&CenterDot;}{\mathrm{\&Delta;}}}_z\end{array}\right]\\ H=\left[\begin{array}{ccccccccc}0& -{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_z& {\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_y& 1& 0& 0& 0& 0& 0\\ {\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_z& 0& -{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_x& 0& 1& 0& 0& 0& 0\\ -{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_y& {\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_x& 0& 0& 0& 1& 0& 0& 0\\ 0& -{\stackrel{\&OverBar;}{f}}_z& {\stackrel{\&OverBar;}{f}}_y& 0& 0& 0& 1& 0& 0\\ {\stackrel{\&OverBar;}{f}}_z& 0& -{\stackrel{\&OverBar;}{f}}_x& 0& 0& 0& 0& 1& 0\\ -{\stackrel{\&OverBar;}{f}}_y& {\stackrel{\&OverBar;}{f}}_x& 0& 0& 0& 0& 0& 0& 1\end{array}\right]\\ Z=\left[\begin{array}{c}{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{x1}\left(t_k\right)-{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{x2}\left(t_k\right)\\ {\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{y1}\left(t_k\right)-{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{y2}\left(t_k\right)\\ {\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{z1}\left(t_k\right)-{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{z2}\left(t_k\right)\\ {\stackrel{\&OverBar;}{f}}_{x1}\left(t_k\right)-{\stackrel{\&OverBar;}{f}}_{x2}\left(t_k\right)\\ {\stackrel{\&OverBar;}{f}}_{y1}\left(t_k\right)-{\stackrel{\&OverBar;}{f}}_{y2}\left(t_k\right)\\ {\stackrel{\&OverBar;}{f}}_{z1}\left(t_k\right)-{\stackrel{\&OverBar;}{f}}_{z2}\left(t_k\right)\end{array}\right]\end{array}\right.$

In formula,

X initial value is 0;

Be followed successively by the alignment error angle of x, y, z direction between two cover inertial navigations;

Be followed successively by the gyroscopic drift of x, y, z direction between two cover inertial navigations;

Be followed successively by the accelerometer bias of x, y, z direction between two cover inertial navigations;

Z is observation vector;

Be followed successively by inertial navigation system 1 within a fault detect cycle x, y,The mean angular velocity of z direction;

Be followed successively by inertial navigation system 2 within a fault detect cycle x, y,The mean angular velocity of z direction;

Be followed successively by inertial navigation system 1 x, y, z within a fault detect cycleThe average acceleration of direction;

Be followed successively by inertial navigation system 2 within a fault detect cycle x, y,The average acceleration of z direction;

H is observed differential matrix;

For the x orientation average angular speed of inertial navigation system 1 and inertial navigation system 2,

For the y orientation average angular speed of inertial navigation system 1 and inertial navigation system 2, ${\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_y=\&lsqb;{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{y1}\left(t_k\right)+{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{y2}\left(t_k\right)\&rsqb;/2;$

For the z orientation average angular speed of inertial navigation system 1 and inertial navigation system 2,

V is observation noise;

The residual error r of k step_kBe shown below:

$r_k=Z_k-H_k{\hat{X}}_k,$

Wherein, ${\hat{X}}_k={\mathrm{\&Phi;}}_{k/k-1}{\hat{X}}_{k-1};$

In formula,

r_kIt is k step residual error;

It is k step predicted value;

Φ_k/k-1Be the transfer matrix of (k-1) step to k step;

If A_kFor r_kVariance, fault detect function corresponding to each observed quantity is shown below:

$\left\{\begin{array}{c}{\mathrm{\&lambda;}}_k\_\mathrm{\&omega;}x=r_k\left(1\right)A_k^{-1}(1,1)r_k\left(1\right)\\ {\mathrm{\&lambda;}}_k\_\mathrm{\&omega;}y=r_k\left(2\right)A_k^{-1}(2,2)r_k\left(2\right)\\ {\mathrm{\&lambda;}}_k\_\mathrm{\&omega;}z=r_k\left(3\right)A_k^{-1}(3,3)r_k\left(3\right)\\ {\mathrm{\&lambda;}}_k\_ax=r_k\left(4\right)A_k^{-1}(4,4)r_k\left(4\right)\\ {\mathrm{\&lambda;}}_k\_ay=r_k\left(5\right)A_k^{-1}(5,5)r_k\left(5\right)\\ {\mathrm{\&lambda;}}_k\_az=r_k\left(6\right)A_k^{-1}(6,6)r_k\left(6\right)\end{array}\right.,$

Each observed quantity is set respectively to card side's threshold value, when fault detect function numerical value corresponding to each observed quantityBe greater than described card side threshold value, judge that device corresponding to this observed quantity breaks down;

The concrete defective device of step 3.2. detects

The inertia device that adopts following formula to calculate two cover inertial navigation systems is exported the absolute value of every frame variable quantity:

$\left\{\begin{array}{c}{\mathrm{d\&omega;}}_{1i}\left(t_k\right)=|{\mathrm{\&omega;}}_{1i}\left(t_k\right)-{\mathrm{\&omega;}}_{1i}(t_k-1)|\\ {\mathrm{df}}_{1i}\left(t_k\right)=|f_{1i}\left(t_k\right)-f_{1i}(t_k-1)|\\ {\mathrm{d\&omega;}}_{2i}\left(t_k\right)=|{\mathrm{\&omega;}}_{2i}\left(t_k\right)-{\mathrm{\&omega;}}_{2i}(t_k-1)|\\ {\mathrm{df}}_{2i}\left(t_k\right)=|f_{2i}\left(t_k\right)-f_{2i}(t_k-1)|\end{array}\right.,i=x,y,z$

In formula,

dω_1i(t_k) be i direction inertial navigation system 1 present frame angular velocity varies amount;

df_1i(t_k) be i direction inertial navigation system 1 present frame acceleration change amount;

dω_2i(t_k) be i direction inertial navigation system 2 present frame angular velocity varies amounts;

df_2i(t_k) be i direction inertial navigation system 2 present frame acceleration change amounts;

ω_1i(t_k)、ω_1i(t_k-1) be followed successively by i direction inertial navigation system 1 present frame, former frame angular speed output valve;

f_1i(t_k)、f_1i(t_k-1) be followed successively by i direction inertial navigation system 1 present frame, former frame acceleration output valve;

ω_2i(t_k)、ω_2i(t_k-1) be followed successively by i direction inertial navigation system 2 present frames, former frame angular speed output valve;

f_2i(t_k)、f_2i(t_k-1) be followed successively by i direction inertial navigation system 2 present frames, former frame acceleration output valve;

For the maximum of every frame variable quantity absolute value in the fault detect cycle, be designated as d ω_{1i_MAX}、df_{1i_MAX}、dω_{2i_MAX}、df_{2i_MAX}, i=x, y, z; By in inertial navigation system 1, the same direction of inertial navigation system 2The maximum of variable quantity absolute value is poor, that is:

$\left\{\begin{array}{c}{\mathrm{d\&omega;}}_i={\mathrm{d\&omega;}}_{1i\_MAX}-{\mathrm{d\&omega;}}_{2i\_MAX}\\ {\mathrm{df}}_i={\mathrm{df}}_{1i\_MAX}-{\mathrm{df}}_{2i\_MAX}\end{array}\right.$

If d is ω_iOr df_iBe greater than given positive threshold value T_positive, judge inertial navigation system 1 device fault; Ifdω_iOr df_iBe less than given negative threshold value T_negative, judge inertial navigation system 2 device faults; Otherwise judgeThe equal fault-free of inertia device.