CN106643810A - Diagnosis method of measured data of gyroscope combination - Google Patents
Diagnosis method of measured data of gyroscope combination Download PDFInfo
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Abstract
The invention provides a diagnosis method of measured data of a gyroscope combination. The diagnosis method comprises the following steps: establishing a gyroscope normal mark, a gyroscope data effective mark and a gyroscope data standard; updating and calculating the gyroscope data standard by adopting different manners according to the gyroscope normal mark, the gyroscope data effective mark and an orthogonal projection relation of currently used three-axis gyroscope measured data, the consistency of the currently used three-axis gyroscope measured data and gyroscope measured data in all the gyroscope combinations in the same direction, an orthogonal projection relation of the gyroscope measured data in the fourth direction and the currently used gyroscope measured data in three directions, and the data variable quantity of corresponding directions of the currently used three-axis gyroscope measured data and the gyroscope data standard. The diagnosis method is simple and feasible; any hardware does not need to be added and the diagnosis method can be realized by only utilizing a software algorithm; the diagnosis accuracy is relatively high and abnormal types of a plurality of types of gyroscope data can be effectively detected and the incorrect diagnosis rate is relatively low.
Description
Technical field
The present invention relates to a kind of diagnostic method to Gyro measurement data, more particularly to one kind angle mount orthogonal to three
The diagnostic method of Gyro measurement data.
Background technology
In spacecraft, Gyro is conventional sensor.A set of Gyro is except pacifying in that orthogonal direction
Fill outside corresponding gyro, corresponding gyro can be also again installed on angle mount direction to back up.It is past in each spacecraft
Toward many set Gyros can be configured, different gyro to measure data are selected when in use to obtain the attitude number on three orthogonal directions
According to.Because gyro to measure data are most important to Spacecraft control, therefore all can hold in the in-orbit flight course of each aircraft
The continuous measurement data to Gyro output is diagnosed, to determine whether whether data correctly can use, while switching for gyro
Foundation is provided.
But there is certain deficiency in existing diagnostic method：
1st, when Gyro is in end of lifetime, it is possible to provide normal measurement data it is less, now existing employing number
Can not effectively work according to the diagnostic method for comparing.
2nd, there is larger attitudes vibration or moment of face in spacecraft in the diagnostic method that existing employing data compare
Usually occurs the situation of wrong diagnosis during interference.
3rd, it is existing to take the diagnostic method of controlled quentity controlled variable inverse to need to rely on other sensors and executing agency, it is quick when these
When sensor or executing agency break down, the wrong diagnosis that gyro can be caused to diagnose.
The content of the invention
The present invention provides a kind of diagnostic method to Gyro measurement data, simple, is not required to increase any hardware,
Only can realize by software algorithm, diagnosis correctness is higher, can carry out effective detection to various gyro data Exception Types, by mistake
Diagnosis is relatively low.
In order to achieve the above object, the present invention provides a kind of diagnostic method to Gyro measurement data, comprising following
Step：
All gyros respectively in each Gyro and Gyro are set up gyro and are normally indicated, are arranging gyro just
Often the state of mark is normal or failure；
The measurement data of all gyros in all Gyros is gathered, is that each gyro to measure data sets up gyro number
According to effective marker, the state of gyro data effective marker is effective or invalid；
Set up the gyro data benchmark comprising three orthogonal directions and an angle mount direction；
It is all in the Gyro if currently used three axis accelerometer measurement data comes from same set of Gyro
The gyro data effective marker of gyro is all effective, and gyro data meets rectangular projection relation, then with this set Gyro
Gyro data updates gyro data benchmark；
If currently used three axis accelerometer measurement data comes from different Gyros, three currently used directions
Gyro to measure data and equidirectional gyro to measure data variation amount in all Gyros within attitude allows variable quantity,
And corresponding gyro data effective marker is effectively, then gyro data is updated with the gyro to measure data in three currently used directions
Corresponding three directions of benchmark, and another bearing data of gyro data benchmark is calculated according to rectangular projection relation；
If currently used three axis accelerometer measurement data comes from different Gyros, except three currently used sides
To gyro to measure data beyond four direction gyro to measure data and three currently used directions gyro to measure
Data meet rectangular projection relation, and related gyro data effective marker is effectively, then with the gyro in three currently used directions
Measurement data updates corresponding three directions of gyro data benchmark, and calculates the another of gyro data benchmark according to rectangular projection relation
One bearing data；
If currently used three axis accelerometer measurement data comes from different Gyros, three currently used directions
Gyro to measure data and gyro data benchmark correspondence direction data variation amount it is within attitude allows variable quantity and related
Gyro data effective marker effectively, then updates gyro data benchmark correspondence with the gyro to measure data in three currently used directions
Three directions, and according to rectangular projection relation calculate gyro data benchmark another bearing data.
Gyro data effective marker is arranged according to gyro data condition for validity, the top of all gyro data conditions for validity is met
The state of the gyro data effective marker of spiral shell data is effective, is unsatisfactory for the gyro data of any one gyro data condition for validity
Gyro data effective marker state for invalid；
Described gyro data condition for validity is included：Gyro is powered up, data acquisition is normally completed, gyro temperature is normal,
Gyro electric current is normal, the normal flag states of this gyro are normal, this gyro place Gyro normal flag states for just
Often.
First determine whether that whether effectively gyro data effective marker, if effectively, is further continued for judging three currently used axle tops
Whether spiral shell measurement data comes from same set of Gyro.
If gyro data effective marker is invalid, then it is assumed that when the gyro data exception of front direction.
If currently used three axis accelerometer measurement data comes from different Gyros, currently used three are judged
Whether the gyro to measure data in individual direction allow with equidirectional gyro to measure data variation amount in all Gyros in attitude
Within variable quantity.
If currently used three axis accelerometer measurement data comes from different Gyros, and three currently used sides
To gyro to measure data and equidirectional gyro to measure data variation amount in all Gyros do not allow variable quantity in attitude
Within, then judge the gyro to measure data of four direction in addition to the gyro to measure data in three currently used directions with
Whether the gyro to measure data in three currently used directions meet rectangular projection relation.
If currently used three axis accelerometer measurement data comes from different Gyros, and three currently used sides
To gyro to measure data and equidirectional gyro to measure data variation amount in all Gyros do not allow variable quantity in attitude
Within, and the gyro to measure data of the four direction in addition to the gyro to measure data in three currently used directions with it is current
The gyro to measure data in three directions for using are unsatisfactory for rectangular projection relation, then judge the gyro in currently used three direction
Whether the data variation amount of the correspondence direction of measurement data and gyro data benchmark is within attitude allows variable quantity.
If currently used three axis accelerometer measurement data comes from different Gyros, and three currently used sides
To gyro to measure data and equidirectional gyro to measure data variation amount in all Gyros do not allow variable quantity in attitude
Within, and the gyro to measure data of the four direction in addition to the gyro to measure data in three currently used directions with it is current
The gyro to measure data in three directions for using are unsatisfactory for rectangular projection relation, and the gyro to measure in three currently used directions
The data variation amount of the correspondence direction of data and gyro data benchmark is not within attitude allows variable quantity, then it is assumed that work as front direction
Gyro data exception.
If continuously occurring gyro data exception in the gyro to measure data in three currently used directions, correspondence is judged
The gyro data failure in direction, is failure by the normal traffic sign placement of corresponding gyro.
The advantages of the present invention are：
Even if the 1, Gyro enters end of lifetime, as long as the top of three different directions needed for normal control can be provided
Spiral shell measurement data, this diagnostic method just can continue to work.
2nd, when the larger attitudes vibration of spacecraft appearance or moment of face are disturbed, due to increased gyro data just
Projection relation diagnosis is handed over, is not in the situation of erroneous judgement.
3rd, the input of gyro data diagnosis method of the invention all is within Gyro, is not related to other sensitive
Device or executing agency, will not be changed and be broken down by these sensors or executing agency's working condition is affected.
Description of the drawings
Fig. 1 is a kind of flow chart of diagnostic method to Gyro measurement data that the present invention is provided.
Fig. 2 is the schematic diagram of three orthogonal angle mount Gyros.
Specific embodiment
Below according to Fig. 1 and Fig. 2, presently preferred embodiments of the present invention is illustrated.
As shown in figure 1, the present invention provides a kind of diagnostic method to Gyro measurement data, comprise the steps of：
All gyros in step S1, respectively each Gyro and Gyro are set up gyro and are normally indicated；
The state for arranging the normal mark of gyro is normal or failure；
Step S2, the measurement data of all gyros gathered in all Gyros, are that each gyro to measure data is built
Vertical gyro data effective marker；
Gyro data effective marker is arranged according to gyro data condition for validity, the state of gyro data effective marker is effective
Or it is invalid；
Described gyro data condition for validity is included：Gyro is powered up, data acquisition is normally completed, gyro temperature is normal,
Gyro electric current is normal, the normal flag states of this gyro are normal, this gyro place Gyro normal flag states for just
Often；
The state for meeting the gyro data effective marker of the gyro data of all gyro data conditions for validity is effective, is discontented with
The state of the gyro data effective marker of the gyro data of sufficient any one gyro data condition for validity is invalid；
Step S3, whether effectively judge gyro data effective marker, if it is, step S4 is carried out, if not, thinking current
The gyro data exception in direction, carries out step S12；
The gyro data benchmark of step S4, foundation comprising three orthogonal directions and an angle mount direction；
Step S5, judge whether currently used three axis accelerometer measurement data comes from same set of Gyro, if it is,
Step S6 is carried out, if not, carrying out step S8；
Whether step S6, all gyro datas judged in this set Gyro are all effective, and gyro data meets orthogonal
Projection relation, if it is, thinking that currently used gyro is normal, carries out step S7, if not, carrying out step S8；
Step S7, with this set Gyro gyro data update gyro data benchmark；
Step S8, by the gyro to measure data in three currently used directions and equidirectional gyro in all Gyros
Measurement data is compared, and judges variable quantity whether within attitude allows variable quantity, and corresponding gyro data is effectively,
If it is, thinking that currently used gyro is normal, step S9 is carried out, if not, carrying out step S10；
Step S9, corresponding three sides of gyro data benchmark are updated with the gyro to measure data in three currently used directions
To, and another bearing data of gyro data benchmark is calculated according to rectangular projection relation, carry out step S2；
Step S10, find in addition to the gyro to measure data in three currently used directions in all Gyros
The gyro to measure data of four direction, judge the gyro to measure data of the four direction and three currently used directions
Whether gyro to measure data meet rectangular projection relation, and related gyro data is effectively, if it is, thinking currently used top
Spiral shell is normal, step S9 is carried out, if not, carrying out step S11；
Step S11, currently used the gyro to measure data in three directions and the correspondence direction of gyro data benchmark are entered
Row compares, and judges variable quantity whether within attitude allows variable quantity, and related gyro data is effectively, if it is, thinking to work as
The front gyro for using is normal, then carry out step S9, if not, thinking the gyro data exception when front direction, carries out step S12；
If continuously occurring (the continuous number of times for occurring in step S12, the gyro to measure data in three currently used directions
Set as the case may be) gyro data exception, then judge the gyro data failure of correspondence direction, corresponding gyro is normally marked
Will is set to failure, carries out step S2, otherwise, comes back for step S3.
As shown in Fig. 2 in a preferred embodiment of the present invention, defining each Gyro and its internal each gyro
Measurement data is：
G1=(g1x,g1y,g1z,g1s), G2=(g2x,g2y,g2z,g2s) ..., Gi=(gix,giy,giz,gis)
Wherein：
GiRepresent the measurement data of i-th set of Gyro；
gixRepresent the X-direction gyro to measure data of i-th set of Gyro；
giyRepresent the Y direction gyro to measure data of i-th set of Gyro；
gizRepresent the Z-direction gyro to measure data of i-th set of Gyro；
gisRepresent the S angle mounts direction gyro to measure data of i-th set of Gyro；
It is g to define currently used gyro to measure amountx、gy、gzAnd gs。
The measurement data of Gyro is diagnosed, is comprised the steps of：
Step 1, to each Gyro in all gyros set up gyro and normally indicate：
GR1=(gr1x,gr1y,gr1z,gr1s), GR2=(gr2x,gr2y,gr2z,gr2s) ..., GRi=(grix,griy,
griz,gris)
Wherein：
GRiThe normal mark of i-th set of Gyro is represented, true represents normal, and false represents failure；
grixThe X-direction gyro for representing i-th set of Gyro normally indicates that true represents normal, and false represents failure；
griyThe Y direction gyro for representing i-th set of Gyro normally indicates that true represents normal, and false represents failure；
grizThe Z-direction gyro for representing i-th set of Gyro normally indicates that true represents normal, and false represents failure；
grisThe S angle mounts direction gyro for representing i-th set of Gyro normally indicates that true represents normal, and false represents event
Barrier.
Step 2, the measurement data, the temperature according to Gyro and gyro, the electricity that gather each gyro in all Gyros
Flow, add off-position, communication state and gyro normally to indicate, set up gyro data effective marker：
GA1=(ga1x,ga1y,ga1z,ga1s), GA2=(ga2x,ga2y,ga2z,ga2s) ..., GAi=(gaix,gaiy,
gaiz,gais)
Wherein：
GAiThe data effective marker of i-th set of Gyro is represented, true represents effective, and false represents invalid；
gaixThe X-direction gyro data effective marker of i-th set of Gyro is represented, true represents effective, and false is represented
It is invalid；
gaiyThe Y direction gyro data effective marker of i-th set of Gyro is represented, true represents effective, and false is represented
It is invalid；
gaizThe Z-direction gyro data effective marker of i-th set of Gyro is represented, true represents effective, and false is represented
It is invalid；
gaisThe S angle mounts direction gyro data effective marker of i-th set of Gyro is represented, true represents effective, false tables
Show invalid；
The effective condition of gyro data is：Gyro has been powered up and data acquisition is normally completed, and gyro temperature and electric current are just
Often and this gyro be normally masked as combination that true and this gyro are located be normally masked as true, be unsatisfactory for any of the above bar
Part, then arrange current gyro data invalid for false.
Step 3, whether effectively judge gyro data effective marker, if it is, step 4 is carried out, if not, thinking to work as front
To gyro data exception, carry out step 12.
The gyro data benchmark of step 4, foundation comprising three orthogonal directions and an angle mount direction：
GB=(gbx,gby,gbz,gbs)
Wherein：
gbxRepresent a reference value of X-direction gyro data；
gbyRepresent a reference value of Y direction gyro data；
gbzRepresent a reference value of Z-direction gyro data；
gbsRepresent a reference value of S angle mounts direction gyro data.
Step 5, judge whether currently used three axis accelerometer measurement data comes from same set of Gyro, if it is,
Carry out step 6, if not, carry out step 8.
Whether step 6, all gyro datas judged in this set Gyro are all effective, and gyro data satisfaction is just traded
Shadow relation；
And gaix、gaiy、gaizAnd gaisIt is true；
Wherein, Δ g is the measure error that system is allowed；
If meeting above predicting relation, it is believed that currently used gyro is normal, step 7 is carried out, if being unsatisfactory for the above
Predicting relation, carries out step 8.
Step 7, with this set Gyro gyro data update gyro data benchmark, i.e.,：GB=Gi。
Step 8, by the gyro to measure data in three currently used directions and equidirectional gyro in all Gyros
Measurement data is compared, and judges variable quantity whether within attitude allows variable quantity, and corresponding gyro data is effective；
If it is, thinking that currently used gyro is normal, step 9 is carried out, if not, carrying out step 10；
When the gyro to measure data in tri- directions of X, Y, Z are accessed, Rule of judgment is：
abs(gx-g1x)≤ΔgxAnd abs (gy-g1y)≤ΔgyAnd abs (gz-g1z)≤ΔgzAnd ga1x、ga1yAnd ga1z
For true；
abs(gx-g2x)≤ΔgxAnd abs (gy-g2y)≤ΔgyAnd abs (gz-g2z)≤ΔgzAnd ga2x、ga2yAnd ga2z
For true；
……
abs(gx-gix)≤ΔgxAnd abs (gy-giy)≤ΔgyAnd abs (gz-giz)≤ΔgzAnd gaix、gaiyAnd gaiz
For true；
When the gyro to measure data in tri- directions of X, Y, S are accessed, Rule of judgment is：
abs(gx-g1x)≤ΔgxAnd abs (gy-g1y)≤ΔgyAnd abs (gs-g1s)≤ΔgsAnd ga1x、ga1yAnd ga1s
For true；
abs(gx-g2x)≤ΔgxAnd abs (gy-g2y)≤ΔgyAnd abs (gs-g2s)≤ΔgsAnd ga2x、ga2yAnd ga2s
For true；
……
abs(gx-gix)≤ΔgxAnd abs (gy-giy)≤ΔgyAnd abs (gs-gis)≤ΔgsAnd gaix、gaiyAnd gais
For true；
When the gyro to measure data in tri- directions of X, Z, S are accessed, Rule of judgment is：
abs(gx-g1x)≤ΔgxAnd abs (gz-g1z)≤ΔgzAnd abs (gs-g1s)≤ΔgsAnd ga1x、ga1zAnd ga1s
For true；
abs(gx-g2x)≤ΔgxAnd abs (gz-g2z)≤ΔgzAnd abs (gs-g2s)≤ΔgsAnd ga2x、ga2zAnd ga2s
For true；
……
abs(gx-gix)≤ΔgxAnd abs (gz-giz)≤ΔgzAnd abs (gs-gis)≤ΔgsAnd gaix、gaizAnd gais
For true；
When the gyro to measure data in tri- directions of Y, Z, S are accessed, Rule of judgment is：
abs(gy-g1y)≤ΔgyAnd abs (gz-g1z)≤ΔgzAnd abs (gs-g1s)≤ΔgsAnd ga1y、ga1zAnd ga1s
For true；
abs(gy-g2y)≤ΔgyAnd abs (gz-g2z)≤ΔgzAnd abs (gs-g2s)≤ΔgsAnd ga2y、ga2zAnd ga2s
For true；
……
abs(gy-giy)≤ΔgyAnd abs (gz-giz)≤ΔgzAnd abs (gs-gis)≤ΔgsAnd gaiy、gaizAnd gais
For true；
Wherein, Δ gx、Δgy、ΔgzWith Δ gsVariable quantity is allowed for attitude.
Step 9, corresponding three sides of gyro data benchmark are updated with the gyro to measure data in three currently used directions
To, and another bearing data of gyro data benchmark is calculated according to rectangular projection relation, carry out step 2；
When the gyro to measure data in tri- directions of X, Y, Z are accessed, gyro data benchmark is：
gbx=gx, gby=gy, gbz=gz,
When the gyro to measure data in tri- directions of X, Y, S are accessed, gyro data benchmark is：
gbx=gx, gby=gy,gbs=gs；
When the gyro to measure data in tri- directions of X, Z, S are accessed, gyro data benchmark is：
gbx=gx,gbz=gz, gbs=gs；
When the gyro to measure data in tri- directions of Y, Z, S are accessed, gyro data benchmark is：
gby=gy, gbz=gz, gbs=gs。
Step 10, find in all Gyros in addition to the gyro to measure data in three currently used directions
The gyro to measure data of four direction, judge the gyro to measure data of the four direction and the top in three currently used directions
Whether spiral shell measurement data meets rectangular projection relation, and related gyro data is effectively, if it is, thinking currently used gyro
Normally, step 9 is carried out, if not, carrying out step 11；
When the gyro to measure data in tri- directions of X, Y, Z are accessed, Rule of judgment is：
And gaisFor true；
When the gyro to measure data in tri- directions of X, Y, S are accessed, Rule of judgment is：
And gaizFor true；
When the gyro to measure data in tri- directions of X, Z, S are accessed, Rule of judgment is：
And gaiyFor true；
When the gyro to measure data in tri- directions of Y, Z, S are accessed, Rule of judgment is：
And gaixFor true.
Step 11, currently used the gyro to measure data in three directions and the correspondence direction of gyro data benchmark are carried out
Relatively, variable quantity is judged whether within attitude allows variable quantity, and related gyro data is effectively, if it is, thinking current
The gyro for using is normal, then carry out step 9, if not, thinking the gyro data exception when front direction, carries out step 12；
When the gyro to measure data in tri- directions of X, Y, Z are accessed, Rule of judgment is：
abs(gx-gbx)≤ΔgxAnd abs (gy-gby)≤ΔgyAnd abs (gz-gbz)≤Δgz；
When the gyro to measure data in tri- directions of X, Y, S are accessed, Rule of judgment is：
abs(gx-gbx)≤ΔgxAnd abs (gy-gby)≤ΔgyAnd abs (gs-gbs)≤Δgs；
When the gyro to measure data in tri- directions of X, Z, S are accessed, Rule of judgment is：
abs(gx-gbx)≤ΔgxAnd abs (gz-gbz)≤ΔgzAnd abs (gs-gbs)≤Δgs；
When the gyro to measure data in tri- directions of Y, Z, S are accessed, Rule of judgment is：
abs(gy-gby)≤ΔgyAnd abs (gz-gbz)≤ΔgzAnd abs (gs-gbs)≤Δgs。
If continuously there is gyro data exception in step 12, the gyro to measure data in three currently used directions,
Judge the gyro data failure of correspondence direction, corresponding gyro is normally indicated into grij(i,1..n；J, x..s) it is set to failure
False, carries out step 2.
Repeat step 2 to step 8 persistently carries out gyro data diagnosis.
The advantages of the present invention are：
Even if the 1, Gyro enters end of lifetime, as long as the top of three different directions needed for normal control can be provided
Spiral shell measurement data, this diagnostic method just can continue to work.
2nd, when the larger attitudes vibration of spacecraft appearance or moment of face are disturbed, due to increased gyro data just
Projection relation diagnosis is handed over, is not in the situation of erroneous judgement.
3rd, the input of gyro data diagnosis method of the invention all is within Gyro, is not related to other sensitive
Device or executing agency, will not be changed and be broken down by these sensors or executing agency's working condition is affected.
Although present disclosure has been made to be discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
Various modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (9)
1. a kind of diagnostic method to Gyro measurement data, it is characterised in that comprise the steps of：
All gyros respectively in each Gyro and Gyro are set up gyro and are normally indicated, arrange gyro and normally mark
The state of will is normal or failure；
The measurement data of all gyros in all Gyros is gathered, is that each gyro to measure data is set up gyro data and had
Valid flag, the state of gyro data effective marker is effective or invalid；
Set up the gyro data benchmark comprising three orthogonal directions and an angle mount direction；
If currently used three axis accelerometer measurement data comes from same set of Gyro, all gyros in the Gyro
Gyro data effective marker it is all effective, and gyro data meets rectangular projection relation, then with the gyro in this set Gyro
Data update gyro data benchmark；
If currently used three axis accelerometer measurement data comes from different Gyros, the top in currently used three directions
Spiral shell measurement data is within attitude allows variable quantity and right with equidirectional gyro to measure data variation amount in all Gyros
The gyro data effective marker answered effectively, then updates gyro data benchmark with the gyro to measure data in three currently used directions
Corresponding three directions, and another bearing data of gyro data benchmark is calculated according to rectangular projection relation；
If currently used three axis accelerometer measurement data comes from different Gyros, except three currently used directions
The gyro to measure data in the gyro to measure data of the four direction beyond gyro to measure data and three currently used directions
Meet rectangular projection relation, and related gyro data effective marker is effectively, then with the gyro to measure in three currently used directions
Data update corresponding three directions of gyro data benchmark, and calculate another of gyro data benchmark according to rectangular projection relation
Bearing data；
If currently used three axis accelerometer measurement data comes from different Gyros, the top in currently used three directions
The data variation amount of the correspondence direction of spiral shell measurement data and gyro data benchmark is allowed within variable quantity in attitude, and related gyro
Data effective marker effectively, then updates gyro data benchmark corresponding three with the gyro to measure data in three currently used directions
Individual direction, and another bearing data of gyro data benchmark is calculated according to rectangular projection relation.
2. the diagnostic method to Gyro measurement data as claimed in claim 1, it is characterised in that had according to gyro data
Effect condition setting gyro data effective marker, meeting the gyro data of the gyro data of all gyro data conditions for validity has criterion
The state of will is effective, is unsatisfactory for the shape of the gyro data effective marker of the gyro data of any one gyro data condition for validity
State is invalid；
Described gyro data condition for validity is included：Gyro is powered up, data acquisition is normally completed, and gyro temperature is normal, gyro
Electric current is normal, the normal flag states of this gyro are normal, the normal flag states of this gyro place Gyro are normal.
3. the diagnostic method to Gyro measurement data as claimed in claim 2, it is characterised in that first determine whether gyro number
According to effective marker whether effectively, if effectively, it is further continued for judging whether currently used three axis accelerometer measurement data comes from together
A set of Gyro.
4. the diagnostic method to Gyro measurement data as claimed in claim 2, it is characterised in that if gyro data has
Valid flag is invalid, then it is assumed that when the gyro data exception of front direction.
5. the diagnostic method to Gyro measurement data as claimed in claim 3, it is characterised in that if currently used
Three axis accelerometer measurement data comes from different Gyros, then judge the gyro to measure data in currently used three direction with
Whether equidirectional gyro to measure data variation amount is within attitude allows variable quantity in all Gyros.
6. the diagnostic method to Gyro measurement data as claimed in claim 5, it is characterised in that if currently used
Three axis accelerometer measurement data comes from different Gyros, and the gyro to measure data in three currently used directions with it is all
Equidirectional gyro to measure data variation amount is not judged except currently used within attitude allows variable quantity, then in Gyro
The gyro to measure data of the four direction beyond the gyro to measure data in three directions and the top in three currently used directions
Whether spiral shell measurement data meets rectangular projection relation.
7. the diagnostic method to Gyro measurement data as claimed in claim 6, it is characterised in that if currently used
Three axis accelerometer measurement data comes from different Gyros, and the gyro to measure data in three currently used directions with it is all
Equidirectional gyro to measure data variation amount is within attitude allows variable quantity in Gyro, and except currently used three
The gyro to measure data of the four direction beyond the gyro to measure data in direction are surveyed with the gyro in three currently used directions
Amount data are unsatisfactory for rectangular projection relation, then judge the gyro to measure data and gyro data benchmark in currently used three direction
Correspondence direction data variation amount whether within attitude allows variable quantity.
8. the diagnostic method to Gyro measurement data as claimed in claim 7, it is characterised in that if currently used
Three axis accelerometer measurement data comes from different Gyros, and the gyro to measure data in three currently used directions with it is all
Equidirectional gyro to measure data variation amount is within attitude allows variable quantity in Gyro, and except currently used three
The gyro to measure data of the four direction beyond the gyro to measure data in direction are surveyed with the gyro in three currently used directions
Amount data are unsatisfactory for rectangular projection relation, and the gyro to measure data in three currently used directions are right with gyro data benchmark
Answer the data variation amount in direction not within attitude allows variable quantity, then it is assumed that when the gyro data exception of front direction.
9. the diagnostic method to Gyro measurement data as described in claim 4 or 8, it is characterised in that if currently made
Continuously there is gyro data exception in the gyro to measure data in three directions, then judge the gyro data event of correspondence direction
Barrier, is failure by the normal traffic sign placement of corresponding gyro.
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