CN112097795B - Method for high-speed diagnosis and low-speed transmission of fault of fiber-optic gyroscope - Google Patents
Method for high-speed diagnosis and low-speed transmission of fault of fiber-optic gyroscope Download PDFInfo
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Abstract
The invention discloses a method for high-speed diagnosis and low-speed transmission of faults of a fiber-optic gyroscope, wherein a watchdog circuit is used for monitoring the state of the gyroscope in the process of electrifying the gyroscope; in the fault detection process, the high-speed diagnosis and low-speed transmission of gyro faults are realized by utilizing a watchdog principle, and when an interface board diagnoses a high-speed fault signal, the interface board starts a watchdog circuit and outputs a low-speed fault mark; if the watchdog counter does not overflow, the watchdog counter is reset when the interface board diagnoses a high-speed fault signal, and the interface board outputs a low-speed fault mark; if the watchdog counter overflows due to the fact that the interface board does not receive the high-speed fault information for a long time, the watchdog counter is reset, and the interface board outputs a low-speed fault-free mark. The invention uses the four-axis gyro data updating period and the communication period of the interface board and the spaceborne computer as the timing pulse period and the timing threshold value of the watchdog circuit respectively, thereby solving the problem of fault detection of gyro fault transmission between hardware with different updating rates.
Description
Technical Field
The invention relates to the technical field of fault detection in an aircraft attitude measurement unit, in particular to a method for high-speed diagnosis and low-speed transmission of faults of an optical fiber gyroscope.
Background
The attitude measurement control system is a key component of the satellite and the remote sensing load thereof. The optical fiber gyro component becomes the first choice of an aircraft attitude measurement control system due to the advantages of small volume, low cost, high precision, high reliability and the like. In space application, the fault of the optical fiber gyro component can cause the failure of attitude measurement data, so that the attitude control of the aircraft can not meet the task requirement. Therefore, the improvement of the on-orbit fault handling capacity of the aircraft is a key technology of the fiber-optic gyroscope in space application.
In space application, fault information of the optical fiber gyro is uploaded to a satellite-borne computer through an interface board for fault processing. Because the data updating period of the fiber-optic gyroscope is short, the communication period between the interface board and the satellite-borne computer is long, and the data updating rates of hardware are inconsistent, the problem of partial fault information loss can occur. In the current fault detection method, an update rate adjustment module is designed in an interface board, the update rate adjustment module adjusts the update cycle of received gyro data to be consistent with the communication cycle of an on-board computer, the interface board directly outputs low-speed fault information and transmits the low-speed fault information to the on-board computer, and the on-board computer performs fault processing by using the gyro data after the update rate adjustment. Since the on-board computer uses raw data not from the fiber optic gyroscope, it is not possible to accurately track the high-speed failure information of the fiber optic gyroscope.
In view of this, realizing the high-speed diagnosis and low-speed transmission of the fiber-optic gyroscope fault becomes one of the key technical problems faced by the aircraft fault detection.
Disclosure of Invention
In view of this, the present invention provides a method for high-speed diagnosis and low-speed transmission of a fault of a fiber-optic gyroscope, so as to implement high-speed diagnosis and low-speed transmission of a fault of a fiber-optic gyroscope.
The invention provides a method for high-speed diagnosis and low-speed transmission of faults of a fiber-optic gyroscope, which comprises the following steps:
s1: in the process of electrifying the optical fiber gyroscope, the watchdog circuit monitors the working state of each shaft of the optical fiber gyroscope, and the gyroscope system carries out fault detection;
s2: judging whether the watchdog circuit receives a first 'dog feeding' signal within a threshold time; if yes, continuously performing fault detection, and executing the step S3; if not, stopping fault detection, outputting a pulse signal by the interface board to send to the spaceborne computer, sending a software reset command to the optical fiber gyro by the spaceborne computer, resetting a reset circuit of the interface board after the optical fiber gyro receives the software reset command, and returning to the step S1; the first dog feeding signal is a data receiving completion mark generated when the interface board receives gyroscope data sent by a sensing module of each axis of the fiber-optic gyroscope; at the moment, the timing pulse period of the watchdog counter is the clock period of the interface board;
s3: in the fault detection process, after the interface board receives gyroscope data of four axes of the fiber-optic gyroscope, whether a high-speed fault signal exists is judged; if not, the interface board outputs a fault-free mark, transmits the fault-free mark to the satellite borne computer through the CAN bus, and returns to the step S3; if yes, executing step S4; wherein the high-speed fault signal is a second 'dog feeding' signal of the watchdog circuit;
s4: the interface board starts a watchdog circuit, outputs a low-speed fault mark and transmits the low-speed fault mark to the spaceborne computer through the CAN bus;
s5: the interface board continuously receives gyro data of four axes of the fiber-optic gyro and judges whether a high-speed fault signal exists or not; if yes, resetting the watchdog counter, outputting a low-speed fault keeping flag by the interface board, transmitting the low-speed fault keeping flag to the satellite borne computer through the CAN bus, and returning to the step S5; if not, executing the step S6; at the moment, the timing pulse period of the watchdog counter is the updating period of the gyro data of the four axes of the fiber optic gyro;
s6: judging whether the watchdog circuit reaches a timing threshold value; if not, adding 1 to the watchdog counter, outputting a low-speed fault mark by the interface board, transmitting the low-speed fault mark to the satellite-borne computer through the CAN bus, and returning to the step S5; if yes, executing step S7; the timing threshold value of the watchdog circuit is the communication period of the interface board and the spaceborne computer;
s7: the watchdog circuit is withdrawn, the interface board outputs no low-speed fault mark, and the low-speed fault mark is transmitted to the spaceborne computer through the CAN bus.
According to the method for high-speed diagnosis and low-speed transmission of the fault of the optical fiber gyroscope, in the process of electrifying the optical fiber gyroscope, the running state of the optical fiber gyroscope sensing module is monitored by using the watchdog circuit, and whether the optical fiber gyroscope works normally is judged; in the fault detection process, the high-speed diagnosis and low-speed transmission of the fault of the fiber-optic gyroscope are realized by utilizing the watchdog principle,when the interface board diagnoses a high-speed fault signal of the fiber-optic gyroscope, the interface board starts a watchdog circuit, simultaneously outputs a low-speed fault mark, and transmits the low-speed fault to the spaceborne computer for fault processing; if the watchdog counter does not overflow (i.e., at the timing threshold T of the watchdog circuit) 2 When the fault is detected to be normal, the watchdog counter is reset to zero, and the interface board outputs a low-speed fault mark when a high-speed fault signal is diagnosed by the interface board, and transmits the low-speed fault mark to the spaceborne computer for fault processing; if the interface board does not receive the high-speed fault information of the fiber-optic gyroscope for a long time, the watchdog counter overflows (namely exceeds the timing threshold T of the watchdog circuit) 2 Not feeding dogs), the watchdog counter is cleared, and the interface board outputs no low-speed fault mark. The invention takes the data updating period of the sensing modules of the four axes of the fiber-optic gyroscope and the communication period of the interface board and the spaceborne computer as the timing pulse period and the timing threshold value of the watchdog circuit respectively, realizes the high-speed diagnosis and the low-speed transmission of the fault of the fiber-optic gyroscope based on the watchdog principle, and solves the fault detection problem of the fault information transmission of the fiber-optic gyroscope between devices with different updating rates.
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FIG. 1 is a flow chart of monitoring a fiber optic gyroscope sensing module by using a watchdog circuit at a first stage in a method for diagnosing a fault of a fiber optic gyroscope at a high speed and transmitting the fault at a low speed provided by the invention;
fig. 2 is a flowchart of fault detection and transmission based on the watchdog principle in the second stage of the method for high-speed diagnosis and low-speed transmission of a fault of a fiber-optic gyroscope according to the present invention;
fig. 3 is a hardware connection diagram of a fault detection process in the method for high-speed diagnosis and low-speed transmission of the fault of the fiber-optic gyroscope according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only illustrative and are not intended to limit the present invention.
The invention provides a method for high-speed diagnosis and low-speed transmission of faults of a fiber-optic gyroscope, which comprises the following steps:
s1: in the process of electrifying the optical fiber gyroscope, the watchdog circuit monitors the working state of each shaft of the optical fiber gyroscope, and the gyroscope system carries out fault detection;
s2: judging whether the watchdog circuit receives a first 'dog feeding' signal within a threshold time; if yes, continuously performing fault detection, and executing the step S3; if not, stopping fault detection, outputting a pulse signal by the interface board to send to the spaceborne computer, sending a software reset command to the optical fiber gyro by the spaceborne computer, resetting a reset circuit of the interface board after the optical fiber gyro receives the software reset command, and returning to the step S1;
the first dog feeding signal is related to the working state of the sensing module of each shaft of the fiber-optic gyroscope, the sensing module of each shaft can be an FPGA chip, when the FPGA chip works normally, the sensing module of each shaft transmits gyroscope data to the interface board at regular intervals, and when the interface board receives the gyroscope data of each shaft, a data receiving completion mark can be generated and used as the first dog feeding signal, namely, the first dog feeding signal is a data receiving completion mark generated when the interface board receives the gyroscope data sent by the sensing module of each shaft of the fiber-optic gyroscope; at the moment, the timing pulse period of the watchdog counter is the clock period of the interface board;
specifically, the two steps S1 and S2 are the first stage of the method for high-speed diagnosis and low-speed transmission of a fault of a fiber-optic gyroscope provided by the present invention, which is a stage of monitoring the operating state of the fiber-optic gyroscope by using a watchdog circuit, and a flowchart is shown in fig. 1;
s3: in the fault detection process, after the interface board receives gyroscope data of four axes of the fiber-optic gyroscope, whether a high-speed fault signal exists is judged; if not, the interface board outputs a no-fault mark, transmits the no-fault mark to the satellite borne computer through the CAN bus, and returns to the step S3; if yes, executing step S4; wherein, the high-speed fault signal is a second 'dog feeding' signal of the watchdog circuit;
s4: the interface board starts a watchdog circuit, outputs a low-speed fault mark and transmits the low-speed fault mark to the satellite-borne computer through the CAN bus;
specifically, the data updating period of the fiber-optic gyroscope is fast, and the fault information generated by the data updating period is called high-speed fault; the data updating period of the interface board is slow, and the fault information generated by the slow updating period is called low-speed fault;
s5: the interface board continuously receives gyro data of four axes of the fiber-optic gyro and judges whether a high-speed fault signal exists or not; if yes, resetting the watchdog counter, outputting a low-speed fault keeping flag by the interface board, transmitting the low-speed fault keeping flag to the satellite borne computer through the CAN bus, and returning to the step S5; if not, executing the step S6; at the moment, the timing pulse period of the watchdog counter is the updating period of the gyro data of the four axes of the fiber optic gyro;
s6: judging whether the watchdog circuit reaches a timing threshold value; if not, the watchdog counter is increased by 1, the interface board outputs a low-speed fault mark, the low-speed fault mark is transmitted to the satellite borne computer through the CAN bus, and the step S5 is returned; if yes, executing step S7; the timing threshold value of the watchdog circuit is the communication period of the interface board and the spaceborne computer;
s7: the watchdog circuit is withdrawn, the interface board outputs no low-speed fault mark and transmits the low-speed fault mark to the satellite borne computer through the CAN bus;
specifically, the above steps S3 to S7 are the second stage of the method for high-speed diagnosis and low-speed transmission of a fault of a fiber-optic gyroscope provided by the present invention, and are the fault detection and transmission stage based on the watchdog principle, and a flowchart is shown in fig. 2.
The invention provides a method for high-speed diagnosis and low-speed transmission of fiber optic gyroscope faults based on a watchdog principle, aiming at the current situation that the fault transmission method which is simple and practical is lacked in the field of domestic fiber optic gyroscope fault detection. In the power-on working process of the gyroscope system, a watchdog circuit is used for monitoring the running state of the optical fiber gyroscope sensing module so as to judge whether the optical fiber gyroscope works normally; in the fault detection process, a fault signal with a short updating period is taken as an input 'feeding dog' of the watchdog circuit, and the fault signal output by the interface board can be maintained for a long time by reasonably setting a timing threshold value of the watchdog circuit, so that the high precision of the fault detection of the optical fiber gyro can be met, and a judgment accurate basis is provided for fault processing of the spaceborne computer.
The invention provides a method for high-speed diagnosis and low-speed transmission of faults of a fiber-optic gyroscope. In the second stage, namely the fault detection process, the interface board realizes high-speed diagnosis and low-speed transmission of the fault of the optical fiber gyro based on the watchdog principle, and the fault information is uploaded to the on-board computer through the CAN bus for fault processing, so that the fault information CAN be transmitted between hardware devices with different data updating rates, and the high-precision detection of the fault of the optical fiber gyro is realized. The timing pulse period of the watchdog circuit is the data update period T of the sensing module of the four axes of the fiber-optic gyroscope 1 The timing threshold value of the watchdog circuit is the communication period T of the interface board and the spaceborne computer 2 (T 2 >T 1 ) The duration of the sensing module from the four axes of the fiber-optic gyroscope is T 1 As a second 'feeding dog' signal of the watchdog circuit at a timing threshold T of the watchdog circuit 2 In the method, as long as a high-speed fault signal 'feeding dog' is always available, the interface board can always keep outputting a low-speed fault mark; if the timing threshold T of the watchdog circuit is exceeded 2 If there is no high-speed fault signal feeding dog, the low-speed fault mark output by the interface board disappears. Thus, once present for a duration of T 1 The high-speed fault can make the output of the interface board at least maintain T through the watchdog counter 2 And long-time low-speed faults can be ensured, so that each diagnosed high-speed fault can be transmitted to the satellite borne computer at a low speed for fault processing. The fault transmission method can ensure that each fault signal can be detected, thereby ensuring the accuracy of fault detection, further improving the reliability of the fiber-optic gyroscope in space application and prolonging the service life of the fiber-optic gyroscope.
Taking the hardware frame shown in fig. 3 as an example, after a gyro system is powered on, when the working state of the fiber optic gyro is normal, gyro fault detection is performed, at this time, a high-speed fault signal of a fiber optic gyro sensing module is input into an interface board, the interface board outputs a low-speed fault signal after processing the high-speed fault signal based on a watchdog principle, and finally the low-speed fault signal is transmitted to the on-board computer through a CAN bus for fault processing.
The hardware equipment of the fiber-optic gyroscope fault detection model comprises a fiber-optic gyroscope sensing module, an interface board and a satellite-borne computer. These three sections will be described in detail below.
The fiber-optic gyroscope sensing module is a programmable logic device. Taking an FPGA chip as an example, the sensing module completes the processing of gyro data and uploads information such as temperature, optical power, angular velocity and the like to the interface board according to an agreed communication protocol, and the data updating period of the fiber-optic gyro sensing module is T 1 。
The interface board is a programmable logic device. Taking the FPGA chip as an example, the interface board not only has the capability of fault diagnosis, but also can transmit faults based on the watchdog principle. The interface board generates a pulse signal every time the interface board completes four-axis gyro data reception, and the pulse signal is used as a counting pulse of the watchdog circuit; when a communication fault occurs between the fiber-optic gyroscope sensing module and the interface board, the high-speed fault is used as a second 'dog feeding' signal of the watchdog circuit; the timing threshold value of the watchdog circuit is the communication period T between the interface board and the spaceborne computer 2 (ii) a The interface board keeps outputting low-speed fault as long as normal 'dog feeding' is carried out within the timing threshold value of the watchdog, and if the timing threshold value of the watchdog circuit is exceeded and the 'dog feeding' is not carried out in time, the output level of the watchdog circuit is jumped from the fault mark to the normal mark. And the low-speed fault output of the watchdog circuit is the low-speed fault output of the interface board, so that the low-speed fault can be transmitted to the spaceborne computer.
And the satellite-borne computer processes the fault according to the received fault type from the interface board and sends a corresponding command signal to the interface board through a CAN communication protocol.
The method for high-speed diagnosis and low-speed transmission of the fault of the optical fiber gyroscope provided by the invention utilizes the watchdog circuit to monitor the optical fiber gyroscope in the power-on working process of the optical fiber gyroscopeJudging whether the fiber-optic gyroscope works normally or not according to the running state of the sensing module; in the fault detection process, the high-speed diagnosis and low-speed transmission of the fault of the fiber-optic gyroscope are realized by utilizing the watchdog principle, when the interface board diagnoses a high-speed fault signal of the fiber-optic gyroscope, the interface board starts a watchdog circuit, simultaneously outputs a low-speed fault mark and transmits the low-speed fault to the spaceborne computer for fault processing; if the watchdog counter does not overflow (i.e., at the timing threshold T of the watchdog circuit) 2 When the fault is detected to be normal, the watchdog counter is reset to zero, and the interface board outputs a low-speed fault mark when a high-speed fault signal is diagnosed by the interface board, and transmits the low-speed fault mark to the spaceborne computer for fault processing; if the interface board does not receive the high-speed fault information of the fiber-optic gyroscope for a long time, the watchdog counter overflows (namely exceeds the timing threshold T of the watchdog circuit) 2 Not feeding dogs), the watchdog counter is cleared, and the interface board outputs no low-speed fault mark. The invention takes the data updating period of the sensing modules of the four axes of the fiber optic gyroscope and the communication period of the interface board and the spaceborne computer as the timing pulse period and the timing threshold value of the watchdog circuit respectively, realizes the high-speed diagnosis and the low-speed transmission of the fault of the fiber optic gyroscope based on the watchdog principle, and solves the fault detection problem of the fault information transmission of the fiber optic gyroscope between devices with different updating rates.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (1)
1. A method for high-speed diagnosis and low-speed transmission of faults of a fiber-optic gyroscope is characterized by comprising the following steps:
s1: in the process of electrifying the optical fiber gyroscope, the watchdog circuit monitors the working state of each shaft of the optical fiber gyroscope, and the gyroscope system carries out fault detection;
s2: judging whether the watchdog circuit receives a first 'dog feeding' signal within a threshold time; if yes, continuously performing fault detection, and executing the step S3; if not, stopping fault detection, outputting a pulse signal by the interface board to send to the spaceborne computer, sending a software reset command to the optical fiber gyro by the spaceborne computer, resetting a reset circuit of the interface board after the optical fiber gyro receives the software reset command, and returning to the step S1; the first dog feeding signal is a data receiving completion mark generated when the interface board receives gyroscope data sent by a sensing module of each axis of the fiber-optic gyroscope; at the moment, the timing pulse period of the watchdog counter is the clock period of the interface board;
s3: in the fault detection process, after the interface board receives gyroscope data of four axes of the fiber optic gyroscope, whether a high-speed fault signal exists is judged; if not, the interface board outputs a no-fault mark, transmits the no-fault mark to the satellite borne computer through the CAN bus, and returns to the step S3; if yes, executing step S4; wherein the high-speed fault signal is a second 'dog feeding' signal of the watchdog circuit;
s4: the interface board starts a watchdog circuit, outputs a low-speed fault mark and transmits the low-speed fault mark to the spaceborne computer through the CAN bus;
s5: the interface board continuously receives gyro data of four axes of the fiber-optic gyro and judges whether a high-speed fault signal exists or not; if yes, the watchdog counter is cleared, the interface board outputs a low-speed fault keeping flag, the low-speed fault keeping flag is transmitted to the satellite borne computer through the CAN bus, and the step S5 is returned; if not, executing the step S6; at the moment, the timing pulse period of the watchdog counter is the updating period of the gyro data of the four axes of the fiber optic gyro;
s6: judging whether the watchdog circuit reaches a timing threshold value; if not, the watchdog counter is increased by 1, the interface board outputs a low-speed fault mark, the low-speed fault mark is transmitted to the satellite borne computer through the CAN bus, and the step S5 is returned; if yes, executing step S7; the timing threshold value of the watchdog circuit is the communication period of the interface board and the spaceborne computer;
s7: the watchdog circuit is withdrawn, the interface board outputs no low-speed fault mark and transmits the low-speed fault mark to the satellite borne computer through the CAN bus;
the data updating period of the fiber-optic gyroscope is fast, and the fault information generated by the data updating period is called high-speed fault; the data update period of the interface board is slow, and the fault information generated by the slow data update period is called low-speed fault.
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