CN106643810B - A kind of diagnostic method of pair of Gyro measurement data - Google Patents
A kind of diagnostic method of pair of Gyro measurement data Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
A kind of diagnostic method of pair of Gyro measurement data, gyro is established normally to indicate, gyro data effective marker and gyro data benchmark, normally indicated according to gyro, gyro data effective marker, the rectangular projection relationship of currently used three axis accelerometer measurement data, the consistency of equidirectional gyro to measure data in currently used three axis accelerometer measurement data and all Gyros, the rectangular projection relationship of the gyro to measure data of four direction and the gyro to measure data in three currently used directions, and the data variation amount size of currently used three axis accelerometer measurement data and the corresponding direction of gyro data benchmark, gyro data benchmark is updated and calculated in different ways.The invention is simple and feasible, is not required to increase any hardware, can only realize by software algorithm, and diagnosis correctness is higher, can effectively be detected to a variety of gyro data Exception Types, wrong diagnosis rate is lower.
Description
Technical field
The present invention relates to the diagnostic methods of a kind of pair of Gyro measurement data, more particularly to one kind is to a three orthogonal angle mounts
The diagnostic method of Gyro measurement data.
Background technique
In spacecraft, Gyro is common sensor.A set of Gyro in addition to pacifying in that orthogonal direction
It fills outside corresponding gyro, corresponding gyro can be also installed again on angle mount direction to back up.It is past in each spacecraft
Toward more set Gyros can be configured, different gyro to measure data are selected when in use to obtain the posture number on three orthogonal directions
According to.Since gyro to measure data are most important to Spacecraft control, can all be held in each in-orbit flight course of aircraft
The continuous measurement data exported to Gyro diagnoses, and to determine whether data correctly can be used, while switching for gyro
Foundation is provided.
But there are certain deficiencies for existing diagnostic method:
1, when Gyro is in end of lifetime, it is possible to provide normal measurement data it is less, it is existing at this time use number
It cannot effectively work according to the diagnostic method compared.
2, there is biggish attitudes vibration or moment of face in spacecraft in the existing diagnostic method compared using data
Usually occurs the case where wrong diagnosis when interference.
3, the existing diagnostic method for taking control amount inverse needs to rely on other sensors and executing agency, when these are quick
When sensor or executing agency break down, the wrong diagnosis of gyro diagnosis can be caused.
Summary of the invention
The present invention provides the diagnostic method of a kind of pair of Gyro measurement data, simple and easy, is not required to increase any hardware,
It can only be realized by software algorithm, diagnosis correctness is higher, can effectively be detected to a variety of gyro data Exception Types, accidentally
Diagnosis is lower.
In order to achieve the above object, the present invention provides the diagnostic method of a kind of pair of Gyro measurement data, comprising following
Step:
All gyros in respectively each Gyro and Gyro are established gyro and are normally indicated, setting gyro is just
The state often indicated is normal or failure；
The measurement data of all gyros in all Gyros is acquired, establishes gyro number for each gyro to measure data
According to effective marker, the state of gyro data effective marker is effectively or invalid；
Establish the gyro data benchmark comprising three orthogonal directions and an angle mount direction；
If currently used three axis accelerometer measurement data is all in same set of Gyro, the Gyro
The gyro data effective marker of gyro is all effective, and gyro data meets rectangular projection relationship, then in this set Gyro
Gyro data updates gyro data benchmark；
If currently used three axis accelerometer measurement data is from different Gyros, three currently used directions
Gyro to measure data and all Gyros in equidirectional gyro to measure data variation amount posture allow variable quantity within,
And corresponding gyro data effective marker is effective, then updates gyro data with the gyro to measure data in three currently used directions
Corresponding three directions of benchmark, and according to another bearing data of rectangular projection relationship calculating gyro data benchmark；
If currently used three axis accelerometer measurement data is from different Gyros, except three currently used sides
To gyro to measure data other than four direction gyro to measure data and currently used three directions gyro to measure
Data meet rectangular projection relationship, and related gyro data effective marker is effective, 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 relationship
One bearing data；
If currently used three axis accelerometer measurement data is from different Gyros, three currently used directions
Gyro to measure data and the data variation amount of corresponding direction of gyro data benchmark allow within variable quantity in posture, and it is related
Gyro data effective marker is effective, then it is corresponding to update gyro data benchmark with the gyro to measure data in three currently used directions
Three directions, and according to rectangular projection relationship calculate gyro data benchmark another bearing data.
Gyro data effective marker is set according to gyro data condition for validity, meets the top of all gyro data conditions for validity
The state of the gyro data effective marker of spiral shell data be it is effective, be unsatisfactory for the gyro data of any one gyro data condition for validity
The state of gyro data effective marker be invalid；
The gyro data condition for validity includes: gyro has been powered on, data acquisition normally completes, gyro temperature is normal,
The normal flag states that gyro electric current is normal, this gyro normal flag states are Gyro where normal, this gyro are positive
Often.
First determine whether gyro data effective marker is effective, if effectively, being further continued for judging three currently used axis tops
Whether spiral shell measurement data is from same set of Gyro.
If gyro data effective marker is invalid, then it is assumed that when the gyro data of front direction is abnormal.
If currently used three axis accelerometer measurement data judges currently used three from different Gyros
Whether equidirectional gyro to measure data variation amount allows in posture in the gyro to measure data in a direction and all Gyros
Within variable quantity.
If currently used three axis accelerometer measurement data is from different Gyros, and three currently used sides
To gyro to measure data and all Gyros in equidirectional gyro to measure data variation amount not posture allow variable quantity
Within, then judge the gyro to measure data of the 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 relationship.
If currently used three axis accelerometer measurement data is from different Gyros, and three currently used sides
To gyro to measure data and all Gyros in equidirectional gyro to measure data variation amount not posture allow variable quantity
Within, and gyro to measure data of the four direction in addition to the gyro to measure data in three currently used directions and current
The gyro to measure data in three directions used are unsatisfactory for rectangular projection relationship, then judge the gyro in three currently used directions
Whether the data variation amount of the corresponding direction of measurement data and gyro data benchmark allows within variable quantity in posture.
If currently used three axis accelerometer measurement data is from different Gyros, and three currently used sides
To gyro to measure data and all Gyros in equidirectional gyro to measure data variation amount not posture allow variable quantity
Within, and gyro to measure data of the four direction in addition to the gyro to measure data in three currently used directions and current
The gyro to measure data in three directions used are unsatisfactory for rectangular projection relationship, and the gyro to measure in three currently used directions
The data variation amount of the corresponding direction of data and gyro data benchmark does not allow within variable quantity in posture, then it is assumed that works as front direction
Gyro data it is abnormal.
If continuously occurring gyro data exception in the gyro to measure data in three currently used directions, determine to correspond to
The normal traffic sign placement of corresponding gyro is failure by the gyro data failure in direction.
The advantages of the present invention are:
Even if 1, Gyro enters end of lifetime, as long as being capable of providing the top of three different directions needed for normal control
Spiral shell measurement data, this diagnostic method just can continue to work.
2, when biggish attitudes vibration occurs in spacecraft or moment of face interferes, due to increasing gyro data just
The case where handing over projection relation diagnosis, being not in erroneous judgement.
3, the input of gyro data diagnosis method of the invention all is within Gyro, is not related to other sensitivities
Device or executing agency, will not be changed and be broken down by these sensors or executing agency's working condition is influenced.
Detailed description of the invention
Fig. 1 is the flow chart of the diagnostic method of a kind of pair of Gyro measurement data provided by the invention.
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 the diagnostic method of a kind of pair of Gyro measurement data comprising the steps of:
Step S1, all gyros respectively in each Gyro and Gyro are established gyro and are normally indicated；
It is normal or failure that the state that gyro normally indicates, which is arranged,；
Step S2, the measurement data for acquiring all gyros in all Gyros, builds for each gyro to measure data
Vertical gyro data effective marker；
Gyro data effective marker is set according to gyro data condition for validity, the state of gyro data effective marker is effective
Or it is invalid；
The gyro data condition for validity includes: gyro has been powered on, data acquisition normally completes, gyro temperature is normal,
The normal flag states that gyro electric current is normal, this gyro normal flag states are Gyro where normal, this gyro are positive
Often；
Meet the gyro data effective marker of the gyro data of all gyro data conditions for validity state be it is effective, be discontented with
The state of the gyro data effective marker of the gyro data of any one gyro data condition for validity of foot is invalid；
Step S3, judge whether gyro data effective marker is effective, if so, step S4 is carried out, if not, thinking current
The gyro data in direction is abnormal, carries out step S12；
Step S4, the gyro data benchmark comprising three orthogonal directions and an angle mount direction is established；
Step S5, judge currently used three axis accelerometer measurement data whether from same set of Gyro, if so,
Step S6 is carried out, if not, carrying out step S8；
Step S6, whether all effectively judge all gyro datas in this set Gyro, and gyro data meet it is orthogonal
Projection relation carries out step S7 if so, thinking that currently used gyro is normal, if not, carrying out step S8；
Step S7, gyro data benchmark is updated with the gyro data in this set Gyro；
Step S8, by equidirectional gyro in the gyro to measure data in three currently used directions and all Gyros
Measurement data is compared, and judges whether variable quantity allows within variable quantity in posture, and corresponding gyro data is effective,
If so, 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 according to another bearing data of rectangular projection relationship calculating gyro data benchmark, carry out step S2；
Step S10, it is found 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 four direction gyro to measure data and currently used three directions
Whether gyro to measure data meet rectangular projection relationship, and related gyro data is effective, if it is, thinking currently used top
Spiral shell is normal, carries out step S9, if not, carrying out step S11；
Step S11, by the corresponding direction of the gyro to measure data in three currently used directions and gyro data benchmark into
Row compares, and judges whether variable quantity allows within variable quantity in posture, and related gyro data is effective, if it is, thinking to work as
The preceding gyro used is normal, then carries out step S9, if not, thinking the gyro data exception when front direction, carries out step S12；
If continuously occurring the (number continuously occurred in the gyro to measure data in three step S12, currently used directions
Set as the case may be) gyro data exception, then determine the gyro data failure of corresponding direction, corresponding gyro is normally marked
Will is set as failure, carries out step S2 and otherwise comes back for step S3.
As shown in Fig. 2, in a preferred embodiment of the present invention, defining each gyro of each Gyro and its inside
Measurement data are as follows:
G1=(g1x,g1y,g1z,g1s), G2=(g2x,g2y,g2z,g2s) ..., Gi=(gix,giy,giz,gis)
Wherein:
GiIndicate the measurement data of i-th set of Gyro；
gixIndicate the X-direction gyro to measure data of i-th set of Gyro；
giyIndicate the Y direction gyro to measure data of i-th set of Gyro；
gizIndicate the Z-direction gyro to measure data of i-th set of Gyro；
gisIndicate the S angle mount direction gyro to measure data of i-th set of Gyro；
Defining currently used gyro to measure amount is gx、gy、gzAnd gs。
The measurement data of Gyro is diagnosed comprising the steps of:
Step 1 is established gyro to all gyros in each Gyro and is normally indicated:
GR1=(gr1x,gr1y,gr1z,gr1s), GR2=(gr2x,gr2y,gr2z,gr2s) ..., GRi=(grix,griy,
griz,gris)
Wherein:
GRiIndicate that the normal mark of i-th set of Gyro, true indicate normal, false indicates failure；
grixIndicate that the X-direction gyro of i-th set of Gyro normally indicates, true indicates normal, and false indicates failure；
griyIndicate that the Y direction gyro of i-th set of Gyro normally indicates, true indicates normal, and false indicates failure；
grizIndicate that the Z-direction gyro of i-th set of Gyro normally indicates, true indicates normal, and false indicates failure；
grisIndicate that the S angle mount direction gyro of i-th set of Gyro normally indicates, true indicates normal, and false indicates event
Barrier.
Measurement data, the temperature according to Gyro and gyro, electricity of each gyro in step 2, all Gyros of acquisition
Stream plus off-position, communication state and gyro normally indicate, establish gyro data effective marker:
GA1=(ga1x,ga1y,ga1z,ga1s), GA2=(ga2x,ga2y,ga2z,ga2s) ..., GAi=(gaix,gaiy,
gaiz,gais)
Wherein:
GAiIndicate that the data effective marker of i-th set of Gyro, true indicate that effectively false indicates invalid；
gaixIndicate that the X-direction gyro data effective marker of i-th set of Gyro, true indicate that effectively, false is indicated
In vain；
gaiyIndicate that the Y direction gyro data effective marker of i-th set of Gyro, true indicate that effectively, false is indicated
In vain；
gaizIndicate that the Z-direction gyro data effective marker of i-th set of Gyro, true indicate that effectively, false is indicated
In vain；
gaisIndicate that the S angle mount direction gyro data effective marker of i-th set of Gyro, true indicate effectively, false table
It is invalid to show；
The effective condition of gyro data are as follows: gyro has been powered on and data acquisition normally completes, and gyro temperature and electric current are just
Often and the normal mark of this gyro is true and the normal mark of this gyro place combination is true, is unsatisfactory for any of the above item
Part, then it is false that current gyro data is arranged in vain.
Step 3 judges whether gyro data effective marker is effective, if so, step 4 is carried out, if not, thinking to work as front
To gyro data it is abnormal, carry out step 12.
Step 4 establishes the gyro data benchmark comprising three orthogonal directions and an angle mount direction:
GB=(gbx,gby,gbz,gbs)
Wherein:
gbxIndicate a reference value of X-direction gyro data；
gbyIndicate a reference value of Y direction gyro data；
gbzIndicate a reference value of Z-direction gyro data；
gbsIndicate a reference value of S angle mount direction gyro data.
Step 5, judge currently used three axis accelerometer measurement data whether from same set of Gyro, if so,
Step 6 is carried out, if not, carrying out step 8.
Step 6 judges whether all gyro datas in this set Gyro are all effective, and gyro data satisfaction is just traded
Shadow relationship；
And gaix、gaiy、gaizAnd gaisIt is true；
Wherein, Δ g is the measurement error that system allows；
If meeting the above predicting relation, it is believed that currently used gyro is normal, step 7 is carried out, if be unsatisfactory for above
Predicting relation carries out step 8.
Step 7 updates gyro data benchmark with the gyro data in this set Gyro, it may be assumed that GB=Gi。
Step 8, by equidirectional gyro in the gyro to measure data in three currently used directions and all Gyros
Measurement data is compared, and judges whether variable quantity allows within variable quantity in posture, and corresponding gyro data is effective；
If so, thinking that currently used gyro is normal, step 9 is carried out, if not, carrying out step 10；
When accessing the gyro to measure data in tri- directions X, Y, Z, Rule of judgment are as follows:
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 accessing the gyro to measure data in tri- directions X, Y, S, Rule of judgment are as follows:
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 accessing the gyro to measure data in tri- directions X, Z, S, Rule of judgment are as follows:
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 accessing the gyro to measure data in tri- directions Y, Z, S, Rule of judgment are as follows:
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 gsAllow variable quantity for posture.
Step 9 updates corresponding three sides of gyro data benchmark with the gyro to measure data in three currently used directions
To, and according to another bearing data of rectangular projection relationship calculating gyro data benchmark, carry out step 2；
When accessing the gyro to measure data in tri- directions X, Y, Z, gyro data benchmark are as follows:
gbx=gx, gby=gy, gbz=gz,
When accessing the gyro to measure data in tri- directions X, Y, S, gyro data benchmark are as follows:
gbx=gx, gby=gy,gbs=gs；
When accessing the gyro to measure data in tri- directions X, Z, S, gyro data benchmark are as follows:
gbx=gx,gbz=gz, gbs=gs；
When accessing the gyro to measure data in tri- directions Y, Z, S, gyro data benchmark are as follows:
gby=gy, gbz=gz, gbs=gs。
Step 10, found in all Gyros in addition to the gyro to measure data in three currently used directions the
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 relationship, and related gyro data is effective, if it is, thinking currently used gyro
Normally, step 9 is carried out, if not, carrying out step 11；
When accessing the gyro to measure data in tri- directions X, Y, Z, Rule of judgment are as follows:
And gaisFor true；
When accessing the gyro to measure data in tri- directions X, Y, S, Rule of judgment are as follows:
And gaizFor true；
When accessing the gyro to measure data in tri- directions X, Z, S, Rule of judgment are as follows:
And gaiyFor true；
When accessing the gyro to measure data in tri- directions Y, Z, S, Rule of judgment are as follows:
And gaixFor true.
Step 11 carries out the corresponding direction of the gyro to measure data in three currently used directions and gyro data benchmark
Compare, judge whether variable quantity allows within variable quantity in posture, and related gyro data is effective, if it is, thinking current
The gyro used is normal, then carries out step 9, if not, thinking the gyro data exception when front direction, carries out step 12；
When accessing the gyro to measure data in tri- directions X, Y, Z, Rule of judgment are as follows:
abs(gx-gbx)≤ΔgxAnd abs (gy-gby)≤ΔgyAnd abs (gz-gbz)≤Δgz；
When accessing the gyro to measure data in tri- directions X, Y, S, Rule of judgment are as follows:
abs(gx-gbx)≤ΔgxAnd abs (gy-gby)≤ΔgyAnd abs (gs-gbs)≤Δgs；
When accessing the gyro to measure data in tri- directions X, Z, S, Rule of judgment are as follows:
abs(gx-gbx)≤ΔgxAnd abs (gz-gbz)≤ΔgzAnd abs (gs-gbs)≤Δgs；
When accessing the gyro to measure data in tri- directions Y, Z, S, Rule of judgment are as follows:
abs(gy-gby)≤ΔgyAnd abs (gz-gbz)≤ΔgzAnd abs (gs-gbs)≤Δgs。
If continuously occurring gyro data exception in step 12, the gyro to measure data in three currently used directions,
The gyro data failure for determining corresponding direction, normally indicates gr for corresponding gyroij(i,1..n；J, x..s) it is set as failure
False carries out step 2.
It repeats step 2 to step 8 and persistently carries out gyro data diagnosis.
The advantages of the present invention are:
Even if 1, Gyro enters end of lifetime, as long as being capable of providing the top of three different directions needed for normal control
Spiral shell measurement data, this diagnostic method just can continue to work.
2, when biggish attitudes vibration occurs in spacecraft or moment of face interferes, due to increasing gyro data just
The case where handing over projection relation diagnosis, being not in erroneous judgement.
3, the input of gyro data diagnosis method of the invention all is within Gyro, is not related to other sensitivities
Device or executing agency, will not be changed and be broken down by these sensors or executing agency's working condition is influenced.
It is discussed in detail although the contents of the present invention have passed through 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 above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (9)
1. the diagnostic method of a kind of pair of Gyro measurement data, which is characterized in that comprise the steps of:
All gyros in respectively each Gyro and Gyro are established gyro and are normally indicated, setting gyro is normally marked
The state of will is normal or failure；
The measurement data of all gyros in all Gyros is acquired, establishing gyro data for each gyro to measure data has
Valid flag, the state of gyro data effective marker are effectively or invalid；
Establish the gyro data benchmark comprising three orthogonal directions and an angle mount direction；
If all gyros of the currently used three axis accelerometer measurement data in same set of Gyro, the Gyro
Gyro data effective marker it is all effective, and gyro data meets rectangular projection relationship, then with the gyro in this set Gyro
Data update gyro data benchmark；
If currently used three axis accelerometer measurement data is from different Gyros, the top in three currently used directions
Equidirectional gyro to measure data variation amount allows within variable quantity in posture in spiral shell measurement data and all Gyros, and right
The gyro data effective marker answered is effective, then updates gyro data benchmark with the gyro to measure data in three currently used directions
Corresponding three directions, and according to another bearing data of rectangular projection relationship calculating gyro data benchmark；
If currently used three axis accelerometer measurement data is from different Gyros, except three currently used directions
The gyro to measure data of the gyro to measure data of four direction other than gyro to measure data and three currently used directions
Meet rectangular projection relationship, and related gyro data effective marker is effective, 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 relationship
Bearing data；
If currently used three axis accelerometer measurement data is from different Gyros, the top in three currently used directions
The data variation amount of the corresponding direction of spiral shell measurement data and gyro data benchmark allows within variable quantity in posture, and related gyro
Data effective marker is effective, then updates gyro data benchmark corresponding three with the gyro to measure data in three currently used directions
A direction, and according to another bearing data of rectangular projection relationship calculating gyro data benchmark.
2. as described in claim 1 to the diagnostic method of Gyro measurement data, which is characterized in that had according to gyro data
Condition setting gyro data effective marker is imitated, the gyro data for meeting the gyro data of all gyro data conditions for validity has criterion
The state of will be it is effective, be 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；
The gyro data condition for validity includes: gyro has been powered on, data acquisition normally completes, and gyro temperature is normal, gyro
The normal flag states that electric current is normal, this gyro normal flag states are Gyro where normal, this gyro are normal.
3. as claimed in claim 2 to the diagnostic method of Gyro measurement data, which is characterized in that first determine whether gyro number
It is whether effective according to effective marker, if effectively, being further continued for judging currently used three axis accelerometer measurement data whether from same
A set of Gyro.
4. as claimed in claim 2 to the diagnostic method of Gyro measurement data, which is characterized in that if gyro data has
Valid flag is invalid, then it is assumed that when the gyro data of front direction is abnormal.
5. as claimed in claim 3 to the diagnostic method of Gyro measurement data, which is characterized in that if currently used
Three axis accelerometer measurement data from different Gyros, then judge the gyro to measure data in three currently used directions with
Whether equidirectional gyro to measure data variation amount allows within variable quantity in posture in all Gyros.
6. as claimed in claim 5 to the diagnostic method of Gyro measurement data, which is characterized in that if currently used
Three axis accelerometer measurement data is from different Gyros, and the gyro to measure data in three currently used directions and all
Equidirectional gyro to measure data variation amount does not allow within variable quantity in posture in Gyro, then judgement is except currently used
The top of the gyro to measure data of four direction other than the gyro to measure data in three directions and three currently used directions
Whether spiral shell measurement data meets rectangular projection relationship.
7. as claimed in claim 6 to the diagnostic method of Gyro measurement data, which is characterized in that if currently used
Three axis accelerometer measurement data is from different Gyros, and the gyro to measure data in three currently used directions and all
Equidirectional gyro to measure data variation amount does not allow within variable quantity in posture in Gyro, and removes currently used three
The gyro in the gyro to measure data of the four direction other than the gyro to measure data in direction and three currently used directions is surveyed
Amount data are unsatisfactory for rectangular projection relationship, then judge the gyro to measure data and gyro data benchmark in three currently used directions
Corresponding direction data variation amount whether posture allow variable quantity within.
8. as claimed in claim 7 to the diagnostic method of Gyro measurement data, which is characterized in that if currently used
Three axis accelerometer measurement data is from different Gyros, and the gyro to measure data in three currently used directions and all
Equidirectional gyro to measure data variation amount does not allow within variable quantity in posture in Gyro, and removes currently used three
The gyro in the gyro to measure data of the four direction other than the gyro to measure data in direction and three currently used directions is surveyed
Amount data are unsatisfactory for rectangular projection relationship, and pair of the gyro to measure data in three currently used directions and gyro data benchmark
Answer the data variation amount in direction does not allow within variable quantity in posture, then it is assumed that when the gyro data of front direction is abnormal.
9. the diagnostic method to Gyro measurement data as described in claim 4 or 8, which is characterized in that if currently made
Continuously occur gyro data exception in the gyro to measure data in three directions, then determines the gyro data event of corresponding direction
The normal traffic sign placement of corresponding gyro is failure by barrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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