CN112683309A - Method for alarming closed-loop fault of fiber-optic gyroscope to navigation system - Google Patents
Method for alarming closed-loop fault of fiber-optic gyroscope to navigation system Download PDFInfo
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- CN112683309A CN112683309A CN202011518141.4A CN202011518141A CN112683309A CN 112683309 A CN112683309 A CN 112683309A CN 202011518141 A CN202011518141 A CN 202011518141A CN 112683309 A CN112683309 A CN 112683309A
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Abstract
The invention discloses a method for alarming a navigation system about a closed-loop fault of a fiber-optic gyroscope, which comprises the steps of sampling the fiber-optic gyroscope controlled by a closed loop within a half period of positive and negative modulation to obtain an odd-even sampling value of the fiber-optic gyroscope; calculating a parity sampling difference value delta P; if the | delta P | is more than or equal to epsilon, judging that the fiber-optic gyroscope has a closed-loop fault, wherein the epsilon is a preset threshold; and when the closed-loop fault of the fiber-optic gyroscope is judged, replacing the rotation angular velocity information sent by the fiber-optic gyroscope to the navigation system with fault information. Compared with the prior art, the method for alarming the closed-loop fault of the fiber-optic gyroscope to the navigation system is provided aiming at the problem that the existing fiber-optic gyroscope does not have the function of alarming the closed-loop fault of the navigation system, can realize the detection and the alarm of the closed-loop fault of the fiber-optic gyroscope, and avoids the navigation system from carrying out attitude calculation based on abnormal data.
Description
Technical Field
The invention relates to the technical field of fiber optic gyroscopes, in particular to a method for alarming a navigation system about a fiber optic gyroscope closed-loop fault.
Background
The optical fiber gyroscope is a core device of the inertial navigation system, and attitude calculation of the carrier is completed by using rotation angular velocity information provided by the optical fiber gyroscope. The fiber-optic gyroscope still sends abnormal data to the navigation system when the closed-loop fault occurs, and the navigation system still performs attitude calculation based on the abnormal data under the condition of unknown gyroscope closed-loop fault, so that the attitude north-seeking task fails. The wrong attitude information provided by the navigation system may cause the command system to issue a wrong command, thereby causing huge economic loss and even casualties.
Therefore, it is very important to add a certain fault diagnosis function to the gyro device and provide fault information to the navigation system. The fiber optic gyroscope closed-loop fault is a main fault type in the fiber optic gyroscope fault, and if the fiber optic gyroscope closed-loop fault is informed to a navigation system in advance, the navigation system is prevented from providing wrong attitude information, so that economic loss can be avoided. The center of the prior art does not have a method for detecting and alarming the closed-loop fault of the fiber-optic gyroscope.
In conclusion, how to realize the detection and alarm of the closed-loop fault of the fiber-optic gyroscope and avoid the attitude calculation of the navigation system based on abnormal data becomes a problem which needs to be solved urgently by technical personnel in the field.
Disclosure of Invention
Aiming at the defects in the prior art, the technical problems to be solved by the invention are as follows: the detection and alarm of the closed-loop fault of the fiber-optic gyroscope are realized, and the attitude calculation of a navigation system based on abnormal data is avoided.
In order to solve the technical problems, the invention adopts the following technical scheme:
a method for alarming a navigation system about a fiber-optic gyroscope closed-loop fault comprises the following steps:
s1, sampling the closed-loop controlled fiber optic gyroscope within a half period of positive and negative modulation to obtain an odd-even sampling value of the fiber optic gyroscope;
s2, calculating a parity sampling difference value delta P;
s3, if | delta P | > is more than or equal to epsilon, judging that the fiber optic gyroscope has a closed loop fault, wherein epsilon is a preset threshold value;
and S4, replacing the rotation angular velocity information sent by the fiber-optic gyroscope to the navigation system with fault information when judging that the fiber-optic gyroscope has closed-loop fault.
Preferably, the parity sample difference is calculated as:
ΔP＝P--P+
in the formula, P-And P+Respectively are odd-even sampling values of the fiber-optic gyroscope;
in the formula, P0The optical power, phi, of the optical fiber gyro reaching the detector when the gyro is absolutely stationarySFor phase differences induced by rotation,. phi0Modulating amplitude, phi, for square wavesfThe phase is fed back in a closed loop.
Preferably, the data structure of the rotational angular velocity information transmitted from the fiber-optic gyroscope to the navigation system is: and when the closed-loop fault of the fiber optic gyroscope is judged, changing the frame header to replace the rotation angular velocity information with fault information.
Preferably, in the data structure, the 1 st byte is a frame header 80H, the 2 nd to nth bytes are data, the (n + 1) th byte is a check value of the data, the 2 nd to nth bytes are bound to 0, and when the fiber-optic gyroscope is disconnected and a closed-loop fault occurs, the frame header is replaced with alarm code data larger than 80H.
In summary, the invention discloses a method for alarming a navigation system about a fiber-optic gyroscope closed-loop fault, which comprises the steps of sampling the fiber-optic gyroscope controlled by the closed-loop control within a half period of positive and negative modulation to obtain an odd-even sampling value of the fiber-optic gyroscope; calculating a parity sampling difference value delta P; if the | delta P | is more than or equal to epsilon, judging that the fiber-optic gyroscope has a closed-loop fault, wherein the epsilon is a preset threshold; and when the closed-loop fault of the fiber-optic gyroscope is judged, replacing the rotation angular velocity information sent by the fiber-optic gyroscope to the navigation system with fault information. Compared with the prior art, the method for alarming the closed-loop fault of the fiber-optic gyroscope to the navigation system is provided aiming at the problem that the existing fiber-optic gyroscope does not have the function of alarming the closed-loop fault of the navigation system, can realize the detection and the alarm of the closed-loop fault of the fiber-optic gyroscope, and avoids the navigation system from carrying out attitude calculation based on abnormal data.
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For purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made in detail to the present invention as illustrated in the accompanying drawings, in which:
FIG. 1 is a flow chart of one embodiment of a method for alarming a navigation system of a fiber optic gyroscope closed loop fault, as disclosed herein;
fig. 2 is a waveform diagram of a closed loop lower detector.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the invention discloses a method for alarming a navigation system about a fiber-optic gyroscope closed-loop fault, which comprises the following steps:
s1, sampling the closed-loop controlled fiber optic gyroscope within a half period of positive and negative modulation to obtain an odd-even sampling value of the fiber optic gyroscope;
s2, calculating a parity sampling difference value delta P;
s3, if | delta P | > is more than or equal to epsilon, judging that the fiber optic gyroscope has a closed loop fault, wherein epsilon is a preset threshold value;
and S4, replacing the rotation angular velocity information sent by the fiber-optic gyroscope to the navigation system with fault information when judging that the fiber-optic gyroscope has closed-loop fault.
At present, the function of alarming a system for faults is not provided in the industry of the fiber-optic gyroscope, and when the fiber-optic gyroscope has closed-loop faults, the navigation system can carry out attitude calculation based on abnormal data, so that an instruction control system can send out wrong instructions. Aiming at the situation, the invention provides a method for alarming the closed-loop fault of the fiber-optic gyroscope to a navigation system, which can realize the detection and the alarm of the closed-loop fault of the fiber-optic gyroscope, thereby avoiding accidents and economic loss.
The closed-loop principle of the fiber optic gyroscope is as follows:
for convenience of description, a square wave modulation is taken as an example (four-state modulation or other modulation methods are similar)
The optical power reaching the detector under square wave modulation can be expressed by the following formula:
in the formula: p0For absolute rest of fibre-optic gyroscopeS0) the optical power reaching the detector; phiSIs the phase difference caused by rotation.
In the formula: phimComprises the following steps:
in the formula: phi0For square wave modulation amplitude, τ is the transit time of the fiber ring (the time that the light wave travels one revolution in the fiber ring).
Through the square wave modulation, the sampling in the half period of the positive and negative modulation can be respectively carried out, and the odd-even sampling value of the fiber-optic gyroscope is obtained:
the parity sample values are subtracted to yield:
ΔP＝P--P+＝P0sinΦ0sinΦS (4)
the square-wave modulation amplitude is constant once determined, so P0sinΦ0Is a constant term and can be represented by a. On the other hand, when phiSIn small amounts, there is sin ΦS＝ΦSThe difference of the parity samples is then:
ΔP＝AΦS (5)
as can be seen from equation (5), the difference between the odd and even samples in the square wave modulation is proportional to the phase difference due to the rotation, and can be output as the rotation angular rate, while the total phase difference is servo-controlled by the closed-loop control to be near zero. The parity sampling values after closed-loop control are:
in the formula: phifIs a closed loop feedback phase which satisfies:
Φf＝-ΦS (7)
(6) the formula can also be expressed as:
from the above, the closed loop in the closed loop fiber optic gyroscope functions to servo-control the total phase difference to near zero. I.e. the detector signal is flat as shown in fig. 2.
Therefore, in practical implementation, the difference between adjacent parity sample values is calculated as follows:
ΔP＝P--P+
in the formula, P-And P+Respectively are odd-even sampling values of the fiber-optic gyroscope;
the way of calculating the difference of the odd-even sampling values every several cycles is analogized, and the description is omitted here.
In specific implementation, the data structure of the rotational angular velocity information sent from the fiber-optic gyroscope to the navigation system is as follows: and when the closed-loop fault of the fiber optic gyroscope is judged, changing the frame header to replace the rotation angular velocity information with fault information.
In the prior art, when equipment failure gives an alarm, the used alarm information is usually a brand-new data structure. In the invention, the rotation angular velocity information and the fault information sent to the navigation system by the fiber-optic gyroscope adopt the same data structure, and a fixed number is bound at high bits in the data to avoid communication faults, so that a frame header cannot appear in the data.
In the specific implementation, in the data structure, the 1 st byte is the frame header 80H, the 2 nd to nth bytes are data, the (n + 1) th byte is a check value of the data, the 2 nd to nth bytes are bound to 0, and when the fiber-optic gyroscope is broken and a closed-loop fault occurs, the frame header is replaced with alarm code data larger than 80H.
As shown in the following table, taking bytes 2 to 6 as data as an example:
the 1 st byte is the frame header 80H, and the 2 nd to 6 th bytes are the gyro data, and it can be known from the table that the highest bit of the 2 nd to 6 th bytes of data is bound to 0, so that the 2 nd to 7 th bytes of data cannot have 80H or data larger than 80H.
When the closed-loop fault of the fiber-optic gyroscope is diagnosed, the frame head 80H can be replaced by any alarm code data larger than 80H, and the data can be negotiated with a navigation system in advance. For example, AAH is sent, namely, the gyroscope closed loop fault is represented as long as the navigation system receives AAH data, and the gyroscope is stopped from being adopted for attitude calculation.
The data format definition and the fault information sending method are only special examples, and the data format definition as long as the alarm code data never appears in the normal data format is within the protection scope of the invention.
Finally, it is noted that the above-mentioned embodiments illustrate rather than limit the invention, and that, while the invention has been described with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (4)
1. A method for alarming a navigation system about a fiber-optic gyroscope closed-loop fault is characterized by comprising the following steps:
s1, sampling the closed-loop controlled fiber optic gyroscope within a half period of positive and negative modulation to obtain an odd-even sampling value of the fiber optic gyroscope;
s2, calculating a parity sampling difference value delta P;
s3, if | delta P | > is more than or equal to epsilon, judging that the fiber optic gyroscope has a closed loop fault, wherein epsilon is a preset threshold value;
and S4, replacing the rotation angular velocity information sent by the fiber-optic gyroscope to the navigation system with fault information when judging that the fiber-optic gyroscope has closed-loop fault.
2. The method of alerting a navigation system of a fiber optic gyroscope closed loop fault of claim 1 wherein the parity sample difference is calculated as:
ΔP＝P--P+
in the formula, P-And P+Respectively are odd-even sampling values of the fiber-optic gyroscope;
in the formula, P0The optical power, phi, of the optical fiber gyro reaching the detector when the gyro is absolutely stationarySFor phase differences induced by rotation,. phi0Modulating amplitude, phi, for square wavesfThe phase is fed back in a closed loop.
3. The method for alarming a navigation system about a fiber-optic gyroscope closed-loop fault as recited in claim 1 or 2, wherein the data structure of the rotational angular velocity information transmitted by the fiber-optic gyroscope to the navigation system is: and when the closed-loop fault of the fiber optic gyroscope is judged, changing the frame header to replace the rotation angular velocity information with fault information.
4. The method for alarming the closed-loop fault of the fiber-optic gyroscope in the navigation system as claimed in claim 3, wherein in the data structure, the 1 st byte is a frame header 80H, the 2 nd to nth bytes are data, the (n + 1) th byte is a check value of the data, the highest bit of the 2 nd to nth bytes is bound to be 0, and when the closed-loop fault occurs when the fiber-optic gyroscope is disconnected, the frame header is replaced with alarm code data larger than 80H.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114812616A (en) * | 2022-06-28 | 2022-07-29 | 中国船舶重工集团公司第七0七研究所 | High-precision optical path testing method in optical fiber gyroscope |
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| JPH11287659A (en) * | 1998-04-03 | 1999-10-19 | Hitachi Cable Ltd | Optical fiber gyro having failure self-diagnostic function |
| 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 |
| CN105758423A (en) * | 2014-12-19 | 2016-07-13 | 上海亨通光电科技有限公司 | Optical power power-on self-test method for fiber-optic gyroscope |
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| JPH06300574A (en) * | 1993-04-20 | 1994-10-28 | Hitachi Cable Ltd | Failure diagnostic device for optical fiber gyro |
| JPH11287659A (en) * | 1998-04-03 | 1999-10-19 | Hitachi Cable Ltd | Optical fiber gyro having failure self-diagnostic function |
| 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 |
| CN105758423A (en) * | 2014-12-19 | 2016-07-13 | 上海亨通光电科技有限公司 | Optical power power-on self-test method for fiber-optic gyroscope |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114812616A (en) * | 2022-06-28 | 2022-07-29 | 中国船舶重工集团公司第七0七研究所 | High-precision optical path testing method in optical fiber gyroscope |
| CN114812616B (en) * | 2022-06-28 | 2022-09-02 | 中国船舶重工集团公司第七0七研究所 | High-precision optical path testing method in optical fiber gyroscope |
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