CN111693071B - Multi-redundancy inertial navigation system and fault diagnosis method and fault diagnosis device thereof - Google Patents
Multi-redundancy inertial navigation system and fault diagnosis method and fault diagnosis device thereof Download PDFInfo
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Abstract
The invention provides a multi-redundancy inertial navigation system, a fault diagnosis method and a fault diagnosis device thereof, wherein the multi-redundancy inertial navigation system comprises the following steps: the plurality of inertial navigation devices are arranged on a plurality of side surfaces of the polyhedron, and measuring axes of the inertial navigation devices are vertical to the side surfaces; the polyhedron comprises a plurality of side surfaces and a bottom surface, and the side surfaces and the bottom surface form an included angle theta so that the inertial navigation device respectively forms an included angle theta with three coordinate axes of an x axis, a y axis and a z axis; the x axis and the y axis are coordinate axes of the plane of the bottom surface, and the z axis is a coordinate axis perpendicular to the plane of the bottom surface. The multi-redundancy inertial navigation system is configured and designed in a structural form based on the optimal principle of system performance, the performance is optimized on the basis of improving the reliability, and the reliability of the inertial navigation system can be greatly improved in a limited cost space by the aid of the redundancy design form of inertial navigation; the fault diagnosis method provided by the invention is used for carrying out online fault diagnosis based on the generalized likelihood method, and effectively realizes the identification and isolation of the fault sub-device.
Description
Technical Field
The invention belongs to the technical field of inertial navigation, and particularly relates to a multi-redundancy inertial navigation system, and a fault diagnosis method and a fault diagnosis device of the multi-redundancy inertial navigation system.
Background
The conventional inertial navigation (inertial navigation for short) system is usually designed in a triaxial orthogonal mode, and the whole system is abnormal under the condition that a single device is abnormal, namely the redundant design of the inertial navigation system is not considered. Three-axis accelerometers and three-axis gyroscopes are usually required for normal operation of inertial navigation systems, and when redundant inertial elements are used to improve the reliability thereof, two redundancy modes exist: one is to adopt component-level redundancy, that is, three gyroscopes form a component, and two components (or three components or more components) are used for operation, so that when one component fails (that is, either one component fails or two components fail), the system can still operate normally, and this redundancy is called component-level redundancy; the second is to use component level redundancy, i.e., a method of using more than the required number of components, both of which can improve the reliability of the system. Hybrid redundancy designs are also typically possible with component-level and component-level redundancy. It is more common to adopt a three-system parallel, double-four hybrid and six-table skew structure. However, although the three-system parallel system has the lowest reliability although the number of meters is increased, the two-four hybrid system and the six-meter inclined system are almost the same for short-time operation, but the six-meter inclined system has slightly high reliability for long-time operation, but the six-meter inclined system needs to be configured with corresponding power supply redundancy configuration, has a complex control circuit, is large in size and high in cost, and is not suitable for application fields with small size.
Therefore, a new inertial navigation structure and a new diagnosis method need to be designed, so that the requirements of high-reliability inertial navigation product design in the fields of aerospace, ships, automatic driving and the like are met, and the identification and isolation of the fault sub-device are effectively realized.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a multi-redundancy inertial navigation system and a design method, and simultaneously provides a fault diagnosis method of the multi-redundancy inertial navigation system and a fault diagnosis device of the multi-redundancy inertial navigation system, the structural design of the multi-redundancy inertial navigation system is configured and designed based on the optimal principle of system performance, and the performance is optimized on the basis of improving the reliability; meanwhile, on-line fault diagnosis is carried out based on a generalized likelihood method, and identification and isolation of the fault sub-device are effectively realized.
The invention aims to provide a multi-redundancy inertial navigation system, which comprises: the plurality of inertial navigation devices are arranged on a plurality of side faces of the polyhedron, and measuring axes of the inertial navigation devices are vertical to the side faces where the inertial navigation devices are arranged; the polyhedron comprises a plurality of side surfaces and a bottom surface, and the side surfaces and the bottom surface form an included angle theta, so that the inertial navigation device respectively forms the included angle theta with three coordinate axes of an x axis, a y axis and a z axis; the x axis and the y axis are coordinate axes of a plane where the bottom surface is located, and the z axis is a coordinate axis perpendicular to the plane where the bottom surface is located.
Preferably, the polyhedron satisfies one or more of the following conditions:
one or more of the plurality of sides is an equilateral triangle;
one or more of the plurality of side surfaces is an isosceles triangle;
the bottom surface is rectangular or square.
Preferably, at least one of the side surfaces forms an angle of 54.73 degrees with the bottom surface.
Preferably, the polyhedron is a conical pentahedron, the number of the side surfaces is four, the four side surfaces are all equilateral triangles, the bottom surface is square, and an included angle between each side surface and the bottom surface is 54.73 degrees; the number of the inertial navigation devices is four, and the four inertial navigation devices are respectively arranged on the four side surfaces; the x axis and the y axis are diagonal connecting lines of the bottom surface, and the z axis is a connecting line between a diagonal intersection point of the bottom surface and the polyhedral conical point.
Preferably, the system further comprises a housing, the geometry of the housing is the polyhedron, and the plurality of inertial navigation devices are arranged inside, on the inner wall, outside or on the outer wall of the housing.
The invention also aims to provide a fault diagnosis method of a multi-redundancy inertial navigation system, which comprises the following steps: designing a measurement equation after the fault of the sensor of the multi-redundancy inertial navigation system according to the measurement equation of the sensor corresponding to the multi-redundancy inertial navigation system; adding a parity matrix into the post-fault measurement process to construct a parity equation; designing a fault diagnosis judgment reference according to the parity equation; and based on the fault diagnosis judgment reference, the identification and isolation of the fault device are realized.
Preferably, the designing of the post-fault measurement equation of the multiple redundant inertial navigation system sensor according to the sensor measurement equation corresponding to the multiple redundant inertial navigation system includes: and determining the measurement equation of the sensor according to the fact that included angles theta are formed between inertial navigation devices in the multi-redundancy inertial navigation system and three coordinate axes of an x axis, a y axis and a z axis respectively.
Preferably, the multi-redundancy inertial navigation system is a four-redundancy inertial navigation system and comprises four inertial navigation devices.
Preferably, the sensor measurement equation is: r0H ω, wherein R0Representing ideal inertial navigation measurement data, omega being actual measurement state, H representing measurement matrix and being described as
The expansion equation of the sensor measurement equation is as follows:
wherein R is1、R2、R3、R4For four respective measurement data, ω, of said inertial navigation devicex、ωy、ωzThe actual triaxial measurement state is obtained.
Preferably, the post-fault measurement equation is: and R is H omega + f, wherein R is actual inertial navigation measurement data, omega is the actual measurement state, H represents the measurement matrix, and f is an inertial navigation system fault vector.
Preferably, the parity equation is: D-VR + VH ω + Vf, where V is an odd-even matrix, and VH-0, VV are satisfiedTIs an identity matrix; d represents a parity vector, which is a function related to the fault vector f, and the statistical properties of the parity vector D under the no-fault assumption and the fault assumption conditions are as follows:
under the fault-free condition, the parity vector D satisfies the expected value of the statistical characteristic of
E[D]＝0，E[DDT]＝σ2；
In the event of a fault condition, the parity vector D satisfies a statistical characteristic expectation value of
E[D]＝μ，E[(D-μ)(D-μ)T]＝σ2；
The parity vector D satisfies a normal distribution;
the setting of the failure diagnosis determination criterion based on the parity equation includes: designing a fault diagnosis function according to the parity vector D as follows:
preferably, the fault diagnosis determination criteria are: u is more than or equal to TVIndicates the occurrence of a failure; u shape<TVIndicates that no failure has occurred; wherein, T isVIs a set threshold.
Preferably, the identifying and isolating the faulty device based on the fault diagnosis judgment reference includes: using a set threshold value TVAnd the fault diagnosis function UWhether the multi-redundancy inertial navigation system fails or not is judged, and if the fault diagnosis function U is smaller than the threshold value TVIf the fault diagnosis function U is larger than or equal to the threshold value T, judging that no fault occursVAnd judging that a fault occurs.
The invention also aims to provide a fault diagnosis device of a multi-redundancy inertial navigation system, which comprises: the fault diagnosis module is used for realizing the identification and isolation of a fault device based on a fault diagnosis judgment reference; the fault diagnosis judgment reference is designed according to an odd-even equation; the parity equation is constructed by designing a measurement equation after the fault of the sensor of the multi-redundancy inertial navigation system according to a sensor measurement equation corresponding to the multi-redundancy inertial navigation system and adding a parity matrix into the measurement equation after the fault.
Preferably, the device further comprises a module for executing the steps of the fault diagnosis method of any one of the multiple redundant inertial navigation systems.
The invention has the beneficial effects that:
the structural design of the multi-redundancy inertial navigation system is based on the optimal principle of system performance to carry out structural form configuration design, the performance is optimized on the basis of improving the reliability, and the inertial navigation redundancy design form can greatly improve the reliability of the inertial navigation system in a limited cost space; meanwhile, an online fault diagnosis method is provided, online fault diagnosis is carried out based on a generalized likelihood method, and identification and isolation of the fault sub-device are effectively achieved.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. The objects and features of the present invention will become more apparent in view of the following description taken in conjunction with the accompanying drawings, in which:
fig. 1 is a schematic structural diagram of a multi-redundancy inertial navigation system according to an embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings, but the present invention is not limited thereto.
Fig. 1 is a schematic structural diagram of a multi-redundancy inertial navigation system according to an embodiment of the present invention. Referring to fig. 1, an exemplary multi-redundancy inertial navigation system 100 of the present invention mainly includes: and the plurality of inertial navigation devices are arranged on a plurality of side surfaces of the polyhedron, and measuring axes of the inertial navigation devices are vertical to the side surfaces where the inertial navigation devices are arranged. The polyhedron comprises a plurality of side faces and a bottom face, and the side faces and the bottom face form an included angle theta, so that the inertial navigation device has included angles theta with three coordinate axes of an x axis, a y axis and a z axis respectively. The x axis and the y axis are coordinate axes of a plane where the bottom surface is located, and the z axis is a coordinate axis perpendicular to the plane where the bottom surface is located.
Optionally, the aforementioned inertial navigation device comprises one or more of an inertial measurement unit, an accelerometer, a gyroscope, or the like. It should be noted that fig. 1, 2, 3, and 4 show 4 inertial navigation devices included in the multi-redundancy inertial navigation system 100 according to an embodiment of the present invention, but the multi-redundancy inertial navigation system 100 proposed by the present invention is not limited to the structure shown in fig. 1, and is not limited to only include 4 inertial navigation devices, and fig. 1 is only an alternative embodiment.
In an alternative embodiment, at least one inertial navigation device is provided on each side of the polyhedron. In another alternative embodiment, inertial navigation devices are disposed on only a portion of the sides of the polyhedron. In another alternative embodiment, the number of the sides of the polyhedron is the same as that of the inertial navigation devices, and one inertial navigation device is arranged on each side.
In an alternative embodiment, the polyhedron satisfies one or more of the following conditions:
one or more of the plurality of sides of the polyhedron is an equilateral triangle;
one or more of the plurality of sides of the polyhedron is an isosceles triangle;
the bottom surface of the polyhedron is rectangular or square.
In an alternative embodiment, at least one side of the polyhedron makes an angle of 54.73 degrees with the bottom of the polyhedron.
In an alternative embodiment, the polyhedron is a pyramidal pentahedron, the number of the side surfaces is four, the four side surfaces are all equilateral triangles, the bottom surface is square, and the included angle between the side surfaces and the bottom surface is 54.73 degrees. The number of the inertial navigation devices is four, and the inertial navigation devices are respectively arranged on four side surfaces. The x axis and the y axis are diagonal connecting lines of the bottom surface, and the z axis is a connecting line of the intersection point of the diagonal of the bottom surface and the polyhedral conical point. That is, the x-axis and the y-axis are: the centers of the bottom surface quadrangles are respectively connected with two adjacent vertexes in the bottom surface quadrangle.
In an alternative embodiment, the conical polyhedron is a conical pentahedron, and the included angle between the four outer side faces of the conical pentahedron and the bottom face is 54.73 degrees. The four outer side surfaces of the conical pentahedron are equilateral triangles, and the bottom surface is square.
Optionally, the polyhedron is set to meet the above condition, so that the plurality of inertial navigation devices respectively have the same included angle with three coordinate axes of an x axis, a y axis and a z axis.
Note that, alternatively, the foregoing polyhedron may be an actually existing hardware structure; for example, a housing having the polyhedral geometry. Or, alternatively, the aforesaid polyhedron may also be only a virtual geometry for determining the position orientation of the inertial navigation device, and does not necessarily have an actual polyhedron shape; for example, a non-polyhedral housing such as a sphere may be provided, and only the polyhedron may be used to orient the inertial navigation device in the spherical housing, or even no housing may be provided.
In an alternative embodiment, the multi-redundancy inertial navigation system 100 further includes a housing, where the geometry of the housing is a polyhedron, and the plurality of inertial navigation devices are disposed in the housing. Alternatively, the inertial navigation device may be disposed inside, on an inner wall, on an outer wall, or on an outer wall of the polyhedral shaped housing structure, and a plurality of inertial navigation devices may be respectively inside and outside the housing. Generally, the housing is used for supporting inertial navigation devices, and all the inertial navigation devices can be detachably and fixedly arranged on the inner wall of the housing.
It should be noted that the aforementioned polyhedral housing does not have to be a complete polyhedron, and for example, generally has a cavity to accommodate the inertial navigation device, and may also have an opening to adjust and replace the internal inertial navigation device.
It should be noted that the "redundancy" mentioned in the multi-redundancy inertial navigation system 100 of the present invention refers to: the number of the inertial navigation devices is more than the number of coordinate axes of the measured space, and the number of the inertial navigation devices is not less than 4 by taking a three-dimensional space as an example.
It should be noted that the multi-redundancy inertial navigation system 100 of the present invention is an asymmetric multi-redundancy inertial navigation system structure. Wherein asymmetric means: and the coordinate axis of the three-dimensional space is not coincident with the measuring axis of the inertial navigation device.
The invention also provides a design method of the multi-redundancy inertial navigation system, which comprises the following steps:
constructing a three-axis coordinate system x, y and z, wherein the x and y-axis coordinate system is a bottom diagonal connecting line of the multi-redundancy inertial navigation system 100, and the z-axis coordinate system is a bottom diagonal intersection point and a polyhedral cone point connecting line of the multi-redundancy inertial navigation system 100;
designing and installing positions of the plurality of inertial navigation devices to be on a plurality of triangular side faces of the polyhedron, enabling measuring axes of the plurality of inertial navigation devices to be perpendicular to the plurality of triangular side faces, and designing included angles between the plurality of inertial navigation devices and three coordinate axes of x, y and z to be theta, wherein in the embodiment, the theta angle is 54.73 degrees.
The invention further provides a fault diagnosis method of a multi-redundancy inertial navigation system, which mainly aims at the multi-redundancy inertial navigation system 100 and mainly comprises the following steps:
the method comprises the following steps: according to a sensor measurement equation corresponding to the multi-redundancy inertial navigation system 100, designing a multi-redundancy inertial navigation online fault diagnosis method based on a generalized likelihood ratio method, and designing a post-fault measurement equation of the sensor of the multi-redundancy inertial navigation system 100. It should be noted that the sensor is also the inertial navigation device.
Specifically, the foregoing step one specifically includes obtaining a sensor measurement equation corresponding to the structural characteristic of the multiple redundant inertial navigation system 100. Optionally, the measurement equation of the sensor is determined according to the fact that included angles θ are formed between inertial navigation devices in the multi-redundancy inertial navigation system and three coordinate axes of an x axis, a y axis and a z axis respectively.
In one embodiment, taking the multi-redundancy inertial navigation system 100 as a four-redundancy inertial navigation system as an example, the sensor measurement equation is:
r ═ H ω, where R denotes inertial navigation measurement data, ω is the actual measurement state, and H denotes a measurement matrix, described as follows:
the expansion equation of the sensor measurement equation is as follows:
wherein R is1、R2、R3、R4For respective measurement data, omega, of four inertial navigation devicesx、ωy、ωzThe actual triaxial measurement state is obtained.
It should be noted that the inertial navigation measurement data R in the foregoing sensor measurement equation is actually the inertial navigation measurement data in an ideal state, and errors caused by noise, interference, faults, device characteristics, and the like are not considered, so the inertial navigation measurement data R in the sensor measurement equation is not recorded as R0。
Optionally, the first step specifically includes: and adding a fault vector of the inertial navigation system based on the sensor measurement equation to obtain a measurement equation after the fault.
In one embodiment, the measurement equation after failure for multiple redundant inertial navigation system sensors is as follows:
and R is H omega + f, wherein R is inertial navigation measurement data, omega is an actual measurement state, H represents a measurement matrix, and f is an inertial navigation system fault vector.
The inertial navigation system fault vector f can express the conditions of noise, interference, faults, device characteristics and the like, can be repeatedly adjusted in the engineering practice, and can be used for debugging the sensitivity of fault diagnosis.
It should be noted that the foregoing measurement equation after fault corresponds to the foregoing sensor measurement equation, and the measurement equation after fault is designed by adding the inertial navigation system fault vector f in consideration of noise, interference, fault, device characteristics, and the like. And R in the measurement equation after the fault is inertial navigation measurement data in engineering practice, the actual error is considered, and the method is more suitable for the actual situation.
Step two: and adding the parity matrix into the post-fault measurement process to construct a parity equation, thereby realizing the online fault diagnosis of the inertial navigation redundancy system. Note that the aforementioned construction parity equations are used to determine parity vectors.
Wherein the parity equation is: d — VR + VH ω + Vf. Where V is an odd-even matrix, satisfying VH 0, VVTIs an identity matrix. D represents a parity vector, which is a function related to a fault vector, and the statistical properties of the parity vector D under the no-fault assumption and the fault assumption are as follows:
under the fault-free condition, the parity vector D satisfies the expected value of the statistical feature of
E[D]＝0，E[DDT]＝σ2；
In the event of a fault condition, parity vector D satisfies a statistically characteristic expected value of
E[D]＝μ，E[(D-μ)(D-μ)T]＝σ2；
Where D satisfies a normal distribution.
Designing a fault diagnosis function as follows:
step three: and designing a fault diagnosis judgment standard. Specifically, designing the fault diagnosis judgment reference according to the parity equation or the parity vector specifically includes:
setting a threshold TV：
U≥TVIndicates the occurrence of a failure;
U<TVindicates that no failure has occurred.
The fault diagnosis function U is used for judging whether the multi-redundancy inertial navigation system has faults or not. When the system has no fault, the odd-even vector D is only related to the noise measured by the sensor, and the fault diagnosis function U is smaller than the set threshold value TV(ii) a When a system fault occurs, the odd-even vector D is related to a fault vector, and the fault diagnosis function U is larger than a threshold value TVAnd detecting a fault.
Wherein the threshold value TVRelating to MTBF and MTTR parameters of inertial navigation adopted in engineering. In an alternative example, a Tv parameter of 0.95 may be designed for the WIS2000 inertial navigation product.
Step four: and based on the diagnosis judgment reference in the third step, the identification and isolation of the fault device in the multi-redundancy inertial navigation are realized.
In a specific example, the foregoing step four includes: using fault diagnosis function U and set threshold value TVJudging whether the multi-redundancy inertial navigation system fails or not, and if the fault diagnosis function U is smaller than a threshold value TVIf the fault diagnosis function U is larger than or equal to the threshold value T, judging that no fault occursVAnd judging that a fault occurs.
It should be noted that after isolating one or more faulty devices in the multi-redundancy inertial navigation system of the example of the present invention, for example, after isolating one faulty device in the quad-redundancy inertial navigation system, the multi-redundancy inertial navigation system has the structure of the foregoing example, so that the entire inertial navigation system can still maintain stable operation.
The embodiment of the invention also provides a fault diagnosis device of a multi-redundancy inertial navigation system, which is mainly used for performing fault diagnosis on the multi-redundancy inertial navigation system 100. The fault diagnosis device may be disposed in the multi-redundancy inertial navigation system, for example, a chip of the multi-redundancy inertial navigation system is used to perform fault diagnosis, or the fault diagnosis device may be an independent device, for example, a remote server is used to perform fault diagnosis.
The fault diagnosis device mainly comprises a fault diagnosis module, wherein the fault diagnosis module is used for realizing the identification and isolation of a fault device based on a fault diagnosis judgment reference. Wherein, the fault diagnosis judgment reference is designed according to the odd-even equation. The parity equation is constructed by designing a measurement equation after the fault of the sensor of the multi-redundancy inertial navigation system according to a sensor measurement equation corresponding to the multi-redundancy inertial navigation system and adding a parity matrix into the measurement equation after the fault.
It should be noted that all relevant contents of each step related to the above-mentioned fault diagnosis method embodiment may be referred to the functional description of the corresponding functional module of the fault diagnosis device 100 of the present invention, and are not described herein again.
An embodiment of the present invention further provides a computer storage medium, where computer instructions are stored, and when the computer instructions are executed on a device, the device executes the above related method steps to implement the fault diagnosis method of the multi-redundancy inertial navigation system 100 in the above embodiment.
The embodiment of the present invention further provides a computer program product, which when running on a computer, causes the computer to execute the above related steps to implement the fault diagnosis method of the multiple redundant inertial navigation system in the above embodiment.
In addition, the embodiment of the present invention further provides an apparatus, which may specifically be a chip, a component or a module, and the apparatus may include a processor and a memory connected to each other; the memory is used for storing computer execution instructions, and when the device runs, the processor can execute the computer execution instructions stored in the memory, so that the chip can execute the fault diagnosis method of the multi-redundancy inertial navigation system in the above method embodiments.
The fault diagnosis apparatus, the computer storage medium, the computer program product or the chip provided by the present invention are all configured to execute the corresponding methods provided above, and therefore, the beneficial effects achieved by the fault diagnosis apparatus, the computer storage medium, the computer program product or the chip may refer to the beneficial effects in the corresponding methods provided above, and are not described herein again.
The structural design of the multi-redundancy inertial navigation system is based on the optimal principle of system performance to carry out structural form configuration design, the performance is optimized on the basis of improving the reliability, and the inertial navigation redundancy design form can greatly improve the reliability of the inertial navigation system in a limited cost space; meanwhile, a fault diagnosis method is provided, online fault diagnosis is carried out based on a generalized likelihood method, and identification and isolation of the fault sub-device are effectively achieved.
The technical solutions provided by the embodiments of the present invention are described in detail above, and the principles and embodiments of the present invention are explained herein by using specific examples, and the descriptions of the embodiments are only used to help understanding the principles of the embodiments of the present invention; meanwhile, the detailed description and the application scope of the embodiments according to the present invention may be changed by those skilled in the art, and in summary, the present disclosure should not be construed as limiting the present invention.
Claims (10)
1. A fault diagnosis method of a multi-redundancy inertial navigation system is characterized in that,
the multi-redundancy inertial navigation system comprises a plurality of inertial navigation devices and a plurality of communication units, wherein the plurality of inertial navigation devices are arranged on a plurality of side faces of the polyhedron, and measuring axes of the inertial navigation devices are vertical to the side faces where the inertial navigation devices are arranged; the polyhedron comprises a plurality of side surfaces and a bottom surface, and the side surfaces and the bottom surface form an included angle theta, so that the inertial navigation device respectively forms the included angle theta with three coordinate axes of an x axis, a y axis and a z axis; the x axis and the y axis are coordinate axes of a plane where the bottom surface is located, and the z axis is a coordinate axis perpendicular to the plane where the bottom surface is located;
the method comprises the following steps:
designing a measurement equation after the fault of the sensor of the multi-redundancy inertial navigation system according to the measurement equation of the sensor corresponding to the multi-redundancy inertial navigation system;
adding a parity matrix into the post-fault measurement process to construct a parity equation;
designing a fault diagnosis judgment reference according to the parity equation; and the number of the first and second groups,
based on the fault diagnosis judgment reference, the identification and isolation of the fault device are realized;
wherein the parity equation is: d ═ VR + VH ω + Vf, where RThe method comprises the following steps of (1) obtaining actual inertial navigation measurement data, wherein omega is an actual measurement state, f is an inertial navigation system fault vector, and H represents a measurement matrix; v is an odd-even matrix, and satisfies VH 0 and VVTIs an identity matrix; d represents a parity vector as a function of the fault vector f.
2. The method of claim 1, wherein designing a post-fault measurement equation for the multiple redundant inertial navigation system sensor according to the sensor measurement equation corresponding to the multiple redundant inertial navigation system comprises:
and determining the measurement equation of the sensor according to the fact that included angles theta are formed between inertial navigation devices in the multi-redundancy inertial navigation system and three coordinate axes of an x axis, a y axis and a z axis respectively.
3. The failure diagnosis method according to claim 2,
the multi-redundancy inertial navigation system is a four-redundancy inertial navigation system and comprises four inertial navigation devices which are respectively arranged on the four side surfaces;
the sensor measurement equation is as follows:
R0h ω, wherein R0Representing ideal inertial navigation measurement data, omega being the actual measurement state, H representing the measurement matrix and being described as
The expansion equation of the sensor measurement equation is as follows:
wherein R is1、R2、R3、R4For four respective measurement data, ω, of said inertial navigation devicex、ωy、ωzThe actual triaxial measurement state is obtained.
4. The failure diagnosis method according to claim 1,
under the fault-free condition, the parity vector D satisfies the expected value of the statistical characteristic of
E[D]＝0，E[DDT]＝σ2，
In the event of a fault condition, the parity vector D satisfies a statistical characteristic expectation value of
E[D]＝μ，E[(D-μ)(D-μ)T]＝σ2，
The parity vector D satisfies a normal distribution;
the setting of the failure diagnosis determination criterion based on the parity equation includes: designing a fault diagnosis function according to the parity vector D as follows:
5. the fault diagnosis method according to claim 4, wherein said identifying and isolating the faulty device based on the fault diagnosis judgment reference comprises:
using a set threshold value TVAnd the fault diagnosis function U is used for judging whether the multi-redundancy inertial navigation system has faults or not, and if the fault diagnosis function U is smaller than the threshold value TVIf the fault diagnosis function U is larger than or equal to the threshold value T, judging that no fault occursVAnd judging that a fault occurs.
6. The fault diagnosis method according to claim 1, characterized in that: the polyhedron of the multi-redundant inertial navigation system satisfies one or more of the following conditions:
one or more of the plurality of sides is an equilateral triangle;
one or more of the plurality of side surfaces is an isosceles triangle;
the bottom surface is rectangular or square.
7. The fault diagnosis method according to claim 1, characterized in that: and the included angle between at least one side surface of the multi-redundancy inertial navigation system and the bottom surface is 54.73 degrees.
8. The fault diagnosis method according to claim 3, characterized in that:
the polyhedron of the multi-redundancy inertial navigation system is a conical pentahedron, the number of the side surfaces is four, the four side surfaces are all equilateral triangles, the bottom surface is square, and the included angle between each side surface and the bottom surface is 54.73 degrees;
the x axis and the y axis are diagonal connecting lines of the bottom surface, and the z axis is a connecting line between a diagonal intersection point of the bottom surface and the polyhedral conical point.
9. The fault diagnosis method according to claim 1, characterized in that:
the multi-redundancy inertial navigation system further comprises a shell, the geometric structure of the shell is the polyhedron, and the plurality of inertial navigation devices are arranged inside, on the inner wall, outside or on the outer wall of the shell.
10. A fault diagnosis device for a multi-redundancy inertial navigation system, the device comprising:
the fault diagnosis module is used for realizing the identification and isolation of a fault device based on a fault diagnosis judgment reference;
the fault diagnosis judgment reference is designed according to an odd-even equation; the parity equation is constructed by designing a measurement equation after the fault of the sensor of the multi-redundancy inertial navigation system according to a sensor measurement equation corresponding to the multi-redundancy inertial navigation system and adding a parity matrix into the measurement equation after the fault;
wherein the parity equation is: d is VR + VH ω + Vf, wherein R is actual inertial navigation measurement data, ω is an actual measurement state, f is an inertial navigation system fault vector, and H represents a measurement matrix; v is parityMatrix, satisfying VH 0 and VVTIs an identity matrix; d represents a parity vector as a function of the fault vector f.
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