CN112033436B - BIT test technology-based fault diagnosis method for laser gyro inertial navigation system - Google Patents
BIT test technology-based fault diagnosis method for laser gyro inertial navigation system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The invention discloses a fault diagnosis method of a laser gyro inertial navigation system based on BIT test technology, which is characterized in that a system parameter detection and state monitoring unit is additionally arranged to realize BIT test and system internal state monitoring of the laser gyro inertial navigation system, a fault diagnosis expert knowledge base is used to realize on-line diagnosis of faults from fault phenomena reported by state monitoring of the laser gyro inertial navigation system, the faults are positioned to a component level, and corresponding processing suggestions are provided as the basis of on-site rapid maintenance.
Description
Technical Field
The invention relates to the technical field of inertial measurement, in particular to a fault diagnosis method of 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 depend on external information and does not radiate energy to the outside (as in radio navigation). The working environment 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 information such as speed, yaw angle and position in a navigation coordinate system can be obtained by measuring acceleration of a carrier in an inertial reference system, integrating the acceleration with time and transforming the acceleration into the navigation coordinate system.
In the laser gyro inertial navigation system, sensitive elements such as a laser gyro, an accelerometer and the like are used as navigation basis, and whether the working states of the laser gyro and the accelerometer directly influence the navigation precision or not has improvement in the prior art.
Disclosure of Invention
In order to solve the technical problems, the invention provides a fault diagnosis method of a laser gyro inertial navigation system based on BIT test technology, which realizes BIT test and system internal state monitoring of the laser gyro inertial navigation system by adding 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 above purpose, the technical scheme of the invention is as follows: the fault diagnosis method of the laser gyro inertial navigation system based on the BIT test technology comprises three laser gyroscopes, three accelerometers, a jitter control circuit board, a high-voltage steady-flow 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 sending module and an upper computer, and also 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, 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 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 shaking amplitude, frequency, light intensity and voltage parameters in real time by a system parameter detection and state monitoring unit after starting up, and judging whether a laser gyroscope shakes normally or is lightened; executing q=q+1 when the laser gyroscope is not started normally within T=30s, judging that 'T=30, q is more than 20', and outputting 'starting parameter abnormality' when the judging result is 'yes';
S2, if the laser gyroscope is started normally or 'T=30, q is more than 20', if the judging result is 'no', the system parameter detection and state monitoring unit continues to detect;
S3, executing r=r+1 when the parameters acquired by the system parameter detection and state monitoring unit exceed the respective normal range, and then judging that 'T% 100=0' if 'yes', outputting the value of r in T=100;
s4, if the judgment of r & gt80 is yes, outputting "parameter abnormality", and if no, outputting "count zero request".
The invention is further provided with: the method also comprises the steps of thorn-like diagnosis:
S5, judging whether the parameters acquired by the system parameter detection and state monitoring unit exceed respective normal ranges, if so, judging whether more thorns exist later;
s6, outputting "parameter abnormality" if yes;
S7, if no, the output is possibly caused by external environmental influence.
The invention is further provided with: the system parameter detection and state monitoring unit electrically isolates all collected voltage signals by using a photoelectric coupling amplifying circuit, and pre-processes the signals by using a voltage follower circuit and a band-pass filter circuit.
The invention is further provided with: the processor of the system parameter detection and status monitoring unit selects TMS320F28335DSP chip.
The invention is further provided with: the system parameter detection and state monitoring unit searches the fault source step by step according to the fault source elimination method and the inference engine of the fault diagnosis expert system according to all state information obtained in real time.
In summary, the invention has the following effects:
1. The system parameter detection and state monitoring unit is provided with an independent power supply channel to ensure that the parameter detection and state monitoring unit can still work normally even if the power supply 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, so that the faults of the power supply conversion plate and the faults of other components can be distinguished;
3. the system parameter detection and state monitoring unit electrically isolates all collected voltage signals by using a photoelectric coupling amplifying circuit, and pre-processes the signals by using a voltage follower 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 of the embodiments of the present invention, the drawings used in the description of the embodiments or 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 the system parameter detection and status monitoring unit;
FIG. 3 is a workflow of a system parameter detection and status monitoring unit.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in FIG. 1, the fault diagnosis method of the laser gyro inertial navigation system based on BIT test technology comprises three laser gyroscopes, three accelerometers, a jitter control circuit board, a high-voltage steady-flow 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 transmitting 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 connection of the navigation information processing circuit board and the serial port transmitting 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 the power supply voltage states of all components through A/D;
Referring to fig. 3, the detection steps of the system parameter detection and status monitoring unit are as follows:
S1, detecting shaking amplitude, frequency, light intensity and voltage parameters in real time by a system parameter detection and state monitoring unit after starting up, and judging whether a laser gyroscope shakes normally or is lightened; executing q=q+1 when the laser gyroscope is not started normally within T=30s, judging that 'T=30, q is more than 20', and outputting 'starting parameter abnormality' when the judging result is 'yes';
S2, if the laser gyroscope is started normally or 'T=30, q is more than 20', if the judging result is 'no', the system parameter detection and state monitoring unit continues to detect;
S3, executing r=r+1 when the parameters acquired by the system parameter detection and state monitoring unit exceed the respective normal range, and then judging that 'T% 100=0' if 'yes', outputting the value of r in T=100;
s4, if the judgment of r & gt80 is yes, outputting "parameter abnormality", and if no, outputting "count zero request".
In some cases, vibration impact of the external environment and strong disturbance of the mains supply may cause "thorn-emitting" phenomena of the gyroscope or accelerometer pulse output and parameters such as light intensity and voltage, and the method further includes the step of thorn-emitting diagnosis:
S5, judging whether the parameters acquired by the system parameter detection and state monitoring unit exceed respective normal ranges, if so, judging whether more thorns exist later;
s6, outputting "parameter abnormality" if yes;
S7, if no, the output is possibly caused by external environmental influence.
As shown in fig. 2, the system parameter detection and status monitoring unit uses a photoelectric coupling amplifying circuit to electrically isolate all the collected voltage signals, and uses a voltage follower circuit and a band-pass filter circuit to preprocess the signals.
Further, the processor of the system parameter detection and status monitoring unit selects TMS320F28335DSP chip.
Further, the system also comprises a fault diagnosis expert system with fault description, and 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 by a fault source elimination method according to all state information obtained in real time.
The 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 by the fault source elimination method according to all state information obtained in real time. By employing a system fault diagnosis expert knowledge base, faults can be localized to the component level, as in Table 2.
TABLE 2 fault location
| Sequence number | Fault type post-diagnosis localization to component level | Suggested treatment measures |
| 1 | Dither control board fault | Replacement of |
| 2 | Navigation information processing board failure | Replacement of |
| 3 | Failure of path length control board | Replacement of |
| 4 | High voltage current stabilizer fault | Replacement of |
| 5 | I/F converter failure | Replacement of |
| 6 | Laser gyro failure | Replacement of |
| 7 | Accelerometer failure | Replacement of |
| 8 | Failure of power conversion board | Replacement of |
The system parameter detection and state monitoring unit performs on-line diagnosis according to fault diagnosis rules, gives out system running state evaluation and fault positioning and processing suggestions, and can be used as a basis for on-site rapid maintenance.
It should be noted that modifications and improvements can be made by those skilled in the art without departing from the inventive concept, and these are all within the scope of the present invention.
Claims (4)
1. The fault diagnosis method of the laser gyro inertial navigation system based on the BIT test technology comprises three laser gyroscopes, three accelerometers, a jitter control circuit board, a high-voltage steady-flow 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 comprising 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 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 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 jitter amplitude, frequency, light intensity and voltage parameters in real time by a system parameter detection and state monitoring unit after starting up,
Judging whether the laser gyroscope shakes normally or is lightened; q=q+1 is performed when the laser gyro is not normally started within t=30 s,
Judging that 'T=30 and q is more than 20', and if the judging result is 'yes', outputting 'starting-up parameter abnormality';
S2, if the laser gyroscope is started normally or 'T=30, q is more than 20', if the judging result is 'no', the system parameter detection and state monitoring unit continues to detect;
S3, executing r=r+1 when the parameters acquired by the system parameter detection and state monitoring unit exceed the respective normal range, and then judging that 'T% 100=0' if 'yes', outputting the value of r in T=100;
s4, judging that r is more than 80, if yes, outputting parameter abnormality, and if no, outputting count zero;
the method also comprises the steps of thorn-like diagnosis:
S5, judging whether the parameters acquired by the system parameter detection and state monitoring unit exceed the respective normal ranges,
If yes, judging whether more thorns exist in the follow-up process;
s6, outputting "parameter abnormality" if yes;
S7, if no, the output is possibly caused by external environmental influence.
2. The fault diagnosis method of the laser gyro inertial navigation system according to claim 1, wherein the system parameter detection and status monitoring unit electrically isolates all the collected voltage signals using a photoelectric coupling amplifying circuit, and pre-processes the signals using a voltage follower circuit and a band-pass filter circuit.
3. The fault diagnosis method of laser gyro inertial navigation system according to claim 1, wherein the processor of the system parameter detection and status monitoring unit is TMS320F28335DSP chip.
4. The fault diagnosis method of laser gyro inertial navigation system according to claim 1, further comprising a fault diagnosis expert system with fault description, wherein 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 by the fault source elimination method according to all state information obtained in real time.
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| CN107621271A (en) * | 2017-10-20 | 2018-01-23 | 北京航天控制仪器研究所 | A kind of inertial platform real-time testing system and method for testing |
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| CN1484034A (en) * | 2002-09-18 | 2004-03-24 | 新疆特变电工股份有限公司 | On-line intelligent monitoring system for transformer and intelligent analysis diagnosis method thereof |
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| CN110723302A (en) * | 2019-07-17 | 2020-01-24 | 陕西千山航空电子有限责任公司 | Recording device and method for flight and voice data |
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| CN102645230A (en) * | 2012-04-11 | 2012-08-22 | 中航捷锐（北京）光电技术有限公司 | Fault detection method and device of optical fiber gyroscope |
| CN107621271A (en) * | 2017-10-20 | 2018-01-23 | 北京航天控制仪器研究所 | A kind of inertial platform real-time testing system and method for testing |
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