CN112033436A - Fault diagnosis method of laser gyro inertial navigation system based on BIT test technology - Google Patents
Fault diagnosis method of laser gyro inertial navigation system based on BIT test technology Download PDFInfo
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Abstract
The invention discloses a fault diagnosis method of a laser gyro inertial navigation system based on a BIT test technology, which realizes BIT test of the laser gyro inertial navigation system and system internal state monitoring by adding a system parameter detection and state monitoring unit, realizes online diagnosis of faults from fault phenomena reported by state monitoring of the laser gyro inertial navigation system by using a fault diagnosis expert knowledge base, positions the faults to a component level, and provides corresponding processing suggestions as the basis for on-site rapid maintenance.
Description
Technical Field
The invention relates to the technical field of inertial measurement, in particular to a fault diagnosis method for a laser gyro inertial navigation system based on a BIT test technology.
Background
An inertial navigation system is an autonomous navigation system that does not rely on external information, nor radiates energy to the outside (as in radio navigation). The working environment of the device not only comprises the air and the ground, but also can be underwater. The basic working principle of inertial navigation is based on Newton's law of mechanics, and by measuring the acceleration of a carrier in an inertial reference system, integrating the acceleration with time and transforming the acceleration into a navigation coordinate system, information such as speed, yaw angle and position in the navigation coordinate system can be obtained.
In the laser gyro inertial navigation system, sensitive elements such as a laser gyro and an accelerometer are used as a navigation basis, and whether the working states of the laser gyro and the accelerometer are normal or not can directly influence the navigation precision, so that the improvement of the prior art exists.
Disclosure of Invention
In order to solve the technical problem, the invention provides a fault diagnosis method of a laser gyro inertial navigation system based on a BIT test technology, which realizes BIT test and system internal state monitoring of the laser gyro inertial navigation system by additionally arranging a system parameter detection and state monitoring unit, monitors whether the working states of a laser gyro and an accelerometer are normal in real time, and ensures the precision of the inertial navigation system.
In order to achieve the purpose, the technical scheme of the invention is as follows: a fault diagnosis method of a laser gyro inertial navigation system based on a BIT test technology comprises three laser gyroscopes, three accelerometers, a jitter control circuit board, a high-voltage current stabilization circuit board, a path length control circuit board, a navigation information processing circuit board, a power supply conversion circuit board, an I/F conversion circuit board, a serial port sending module and an upper computer, and further comprises a system parameter detection and state monitoring unit, wherein the system parameter detection and state monitoring unit is arranged between the connection of the navigation information processing circuit board and the serial port sending module, is provided with an independent power supply channel, and detects the power supply voltage states of all components through A/D; the detection steps of the system parameter detection and state monitoring unit are as follows:
s1, detecting the jitter amplitude, frequency, light intensity and voltage parameter in real time by the system parameter detection and state monitoring unit after starting up, and judging whether the laser gyroscope is jittered and lighted normally; if the laser gyroscope is not normally started within the time T of 30s, executing the time q of q +1, judging that the time T of 30 is greater than q of 20, and if the judgment result is 'yes', outputting 'abnormal startup parameters';
s2, if the laser gyroscope is normally started or T is 30 and q is more than 20 ', if the judgment result is ' no ', the system parameter detection and state monitoring unit continues to detect;
s3, if the parameters acquired by the system parameter detection and status monitoring unit exceed their respective normal ranges, executing r ═ r +1, and then determining that "T% 100 ═ 0", and if "yes", outputting the value of r within T ═ 100;
s4, if "r > 80" is judged, the parameter is output to be abnormal, and if "no", the counting please zero is output.
The invention is further configured to: also comprises the diagnosis steps of cold stab:
s5, judging whether the parameters collected by the system parameter detection and state monitoring unit exceed respective normal ranges, and if so, judging whether more thorns are generated subsequently;
s6, if yes, outputting 'parameter abnormal';
s7, if no, the output may be due to external environmental influences.
The invention is further configured to: the system parameter detection and state monitoring unit electrically isolates all collected voltage signals by using a photoelectric coupling amplifying circuit, and preprocesses the signals by using a voltage following circuit and a band-pass filter circuit.
The invention is further configured to: TMS320F28335DSP chip is selected as processor of system parameter detection and state monitoring unit.
The invention is further configured to: the system parameter detection and state monitoring unit searches the fault source step by step according to all state information obtained in real time and an inference engine of the fault diagnosis expert system through a fault source elimination method.
In summary, the present invention has the following effects:
1. the system parameter detection and state monitoring unit is provided with an independent power supply channel so as to ensure that the parameter detection and state monitoring unit can still normally work even if the power conversion plate fails;
2. the system parameter detection and state monitoring unit detects the power supply voltage states of all the components through A/D (analog/digital) so as to distinguish the power supply conversion plate faults from other component faults;
3. the system parameter detection and state monitoring unit electrically isolates all collected voltage signals by using a photoelectric coupling amplifying circuit, and preprocesses the signals by using a voltage following circuit and a band-pass filter circuit, so that the mutual influence among all stages of circuits is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments or the description of the prior art will be briefly described below.
FIG. 1 is a schematic diagram of a laser gyro inertial navigation system;
FIG. 2 is a flow chart of signal acquisition of a system parameter detection and status monitoring unit;
FIG. 3 is a flow chart of the system parameter detection and status monitoring unit.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, a fault diagnosis method for a laser gyro inertial navigation system based on a BIT test technique includes three laser gyroscopes, three accelerometers, a jitter control circuit board, a high-voltage current stabilization circuit board, a path length control circuit board, a navigation information processing circuit board, a power conversion circuit board, an I/F conversion circuit board, a serial port transmission module and an upper computer, and is characterized by further including a system parameter detection and state monitoring unit, wherein the system parameter detection and state monitoring unit is arranged between the navigation information processing circuit board and the serial port transmission module, the system parameter detection and state monitoring unit is provided with an independent power supply channel, and the system parameter detection and state monitoring unit detects power supply voltage states of all components through a/D;
referring to fig. 3, the detecting steps of the system parameter detecting and status monitoring unit are as follows:
s1, detecting the jitter amplitude, frequency, light intensity and voltage parameter in real time by the system parameter detection and state monitoring unit after starting up, and judging whether the laser gyroscope is jittered and lighted normally; if the laser gyroscope is not normally started within the time T of 30s, executing the time q of q +1, judging that the time T of 30 is greater than q of 20, and if the judgment result is 'yes', outputting 'abnormal startup parameters';
s2, if the laser gyroscope is normally started or T is 30 and q is more than 20 ', if the judgment result is ' no ', the system parameter detection and state monitoring unit continues to detect;
s3, if the parameters acquired by the system parameter detection and status monitoring unit exceed their respective normal ranges, executing r ═ r +1, and then determining that "T% 100 ═ 0", and if "yes", outputting the value of r within T ═ 100;
s4, if "r > 80" is judged, the parameter is output to be abnormal, and if "no", the counting please zero is output.
In some cases, the vibration impact of the external environment and strong mains supply disturbance may cause the phenomenon of "spurting" of parameters such as gyro or accelerometer pulse output, light intensity and voltage, and the like, and the method further comprises the spurting diagnosis step:
s5, judging whether the parameters collected by the system parameter detection and state monitoring unit exceed respective normal ranges, and if so, judging whether more thorns are generated subsequently;
s6, if yes, outputting 'parameter abnormal';
s7, if no, the output may be due to external environmental influences.
As shown in fig. 2, the system parameter detection and state monitoring unit electrically isolates all collected voltage signals by using a photoelectric coupling amplifying circuit, and preprocesses the signals by using a voltage follower circuit and a band-pass filter circuit.
Further, a TMS320F28335DSP chip is selected as a processor of the system parameter detection and state monitoring unit.
And the system parameter detection and state monitoring unit searches the fault source step by step according to all state information obtained in real time and an inference engine of the fault diagnosis expert system through a fault source elimination method.
Specific failure phenomena are shown in table 1:
TABLE 1
The system parameter detection and state monitoring unit searches the fault source step by step according to the inference engine of the fault diagnosis expert system through the fault source elimination method according to all state information obtained in real time. By using the system troubleshooting expert knowledge base, the failure can be localized to the component level, as in table 2.
TABLE 2 Fault location
| Serial number | Failure type post-diagnosis localized to component level | Suggesting treatment measures |
| 1 | Jitter control panel failure | Replacement of |
| 2 | Navigation information processing board failure | Replacement of |
| 3 | Fault of control board of path length | Replacement of |
| 4 | Failure of high-pressure stabilizer | Replacement of |
| 5 | I/F converter board failure | Replacement of |
| 6 | Failure of laser gyro | Replacement of |
| 7 | Accelerometer failure | Replacement of |
| 8 | Power supply changeover panel failure | Replacement of |
The system parameter detection and state monitoring unit carries out online diagnosis according to the fault diagnosis rule, provides system running state evaluation and fault positioning and processing suggestions, and can be used as a basis for field rapid maintenance.
It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the inventive concept of the present invention, and these changes and modifications belong to the protection scope of the present invention.
Claims (5)
1. A fault diagnosis method of a laser gyro inertial navigation system based on a BIT test technology comprises three laser gyroscopes, three accelerometers, a jitter control circuit board, a high-voltage current stabilization circuit board, a path length control circuit board, a navigation information processing circuit board, a power supply conversion circuit board, an I/F conversion circuit board, a serial port sending module and an upper computer, and is characterized by further comprising a system parameter detection and state monitoring unit, wherein the system parameter detection and state monitoring unit is arranged between the navigation information processing circuit board and the serial port sending module, is provided with an independent power supply channel, and detects the power supply voltage states of all components through A/D; the detection steps of the system parameter detection and state monitoring unit are as follows:
s1, detecting the jitter amplitude, frequency, light intensity and voltage parameter in real time by the system parameter detection and state monitoring unit after starting up, and judging whether the laser gyroscope is jittered and lighted normally; if the laser gyroscope is not normally started within the time T of 30s, executing the time q of q +1, judging that the time T of 30 is greater than q of 20, and if the judgment result is 'yes', outputting 'abnormal startup parameters';
s2, if the laser gyroscope is normally started or T is 30 and q is more than 20 ', if the judgment result is ' no ', the system parameter detection and state monitoring unit continues to detect;
s3, if the parameters acquired by the system parameter detection and status monitoring unit exceed their respective normal ranges, executing r ═ r +1, and then determining that "T% 100 ═ 0", and if "yes", outputting the value of r within T ═ 100;
s4, if "r > 80" is judged, the parameter is output to be abnormal, and if "no", the counting please zero is output.
2. The method for diagnosing the fault of the laser gyro inertial navigation system according to claim 1, further comprising the step of spurting diagnosis:
s5, judging whether the parameters collected by the system parameter detection and state monitoring unit exceed respective normal ranges, and if so, judging whether more thorns are generated subsequently;
s6, if yes, outputting 'parameter abnormal';
s7, if no, the output may be due to external environmental influences.
3. The method for diagnosing the fault of the laser gyro inertial navigation system according to claim 1 or 2, wherein the system parameter detection and state monitoring unit electrically isolates all collected voltage signals by using a photoelectric coupling amplifying circuit, and preprocesses the signals by using a voltage following circuit and a band-pass filter circuit.
4. The method for diagnosing the fault of the laser gyro inertial navigation system according to claim 1 or 2, wherein a TMS320F28335DSP chip is selected as a processor of a system parameter detection and state monitoring unit.
5. The method for diagnosing the fault of the laser gyro inertial navigation system according to claim 1 or 2, characterized by further comprising a fault diagnosis expert system storing fault descriptions, wherein the system parameter detection and state monitoring unit searches fault sources step by step according to all state information obtained in real time through a fault source elimination method according to an inference engine of the fault diagnosis expert system.
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