CN113532482B - Fault detection device and method for redundant inertial measurement system - Google Patents
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Abstract
The invention discloses a fault detection method of a redundant inertia measurement system, which relates to the technical field of inertia measurement and comprises the following steps: combining any three meters in at least three orthogonal and two obliquely arranged measuring devices to form a combined sequence; calculating the apparent acceleration value or angular velocity value of each combination in the combination sequence to generate a calculation value sequence; sorting the calculation sequence according to a single axial calculation value; forming a new calculated value combination sequence according to a set threshold value, and recording a new pulse combination sequence corresponding to the new calculated value combination sequence with the largest number; carrying out and calculation on the three axial new pulse combination sequences to obtain a pulse combination sequence with normal output; the combined sequence contains a single table with normal output and abnormal output outside the sequence. The fault detection method provided by the invention is simple and easy to implement; the fault detection rate is high; the calculation of the combined sequence in the method provided by the invention can adopt a hardware acceleration mode, thereby effectively reducing the calculation time.
Description
Technical Field
The invention relates to the technical field of inertial measurement, in particular to a fault detection device and a fault detection method for a redundant inertial measurement system.
Background
In recent years, an inertial measurement unit has become a core device in high-precision fields such as aircraft, rockets and the like, generally comprises a gyroscope, an accelerometer and a related processing circuit, and is provided with a function of measuring the apparent acceleration of a carrier rocket along three rocket axes and the angular velocity around the rocket axis in real time, outputting the measurement results to an rocket-mounted computer for navigation and attitude calculation, and realizing guidance and stable control of the carrier rocket.
In practical use, limited by the production process level of the inertial device, in order to improve the flight reliability, a redundancy design is usually adopted, wherein the redundancy method is a design for judging that a sensor fails and accurately finding out the failed sensor when a certain sensor fails, and acquiring correct information from normal sensor output, and a redundancy mode such as a multi-meter inertial set or a multi-inertial set is usually adopted. Accordingly, failure diagnosis of redundant inertial measurement sets becomes a critical issue for redundant systems.
In the existing patents and papers, there are two main methods for determining the failure of the redundant inertial measurement unit: the existing papers or patents are mostly perfected based on the two methods. However, in practical engineering applications, the two methods are either limited in detection scenarios or cause non-ideal detection effects due to inaccurate models.
The redundant fault detection methods described above all arise in the context of traditional rocket-borne computers with limited computational power. With the maturity of hardware acceleration methods such as high-performance computers and programmable logic devices, this brings sufficient feasibility for fault detection. The 'redundant strapdown inertial group fault detection method based on parallel navigation solution' of northwest industrial university Chen Kai et al combines parity vectors, parallel computation and the like to perform fault detection, but the fault detection degree is still low.
Disclosure of Invention
In view of the defects in the prior art, the first aspect of the present invention provides a method for detecting a fault in a redundant inertial measurement system, so as to solve the problems of low detection rate and long detection time in the related art.
In order to achieve the above purpose, the invention provides a fault detection device and a fault detection method for a redundant inertial measurement system, which comprises the following steps:
acquiring pulse data output by an inertial measurement system, wherein the inertial measurement system comprises at least five measurement devices, three of the five measurement devices are in orthogonal positions, and at least two measurement devices are obliquely arranged;
combining the pulse data of any three measuring devices in all measuring devices to generate an initial pulse combination sequence, and calculating each combination in the initial pulse combination sequence to obtain a first pulse data sequence;
screening the pulse data of the first pulse data sequence according to the X-axis direction, the Y-axis direction and the Z-axis direction to obtain a second pulse data combination sequence;
screening the second pulse data combination sequence according to a preset threshold value to obtain an X-axis pulse data combination, a Y-axis pulse data combination and a Z-axis pulse data combination;
obtaining a fourth pulse data combination sequence by taking an intersection of the X-axis pulse data combination, the Y-axis pulse data combination and the Z-axis pulse data combination;
and output data outside the fourth pulse data combination sequence NA are output data of a fault measuring device.
In some embodiments, the screening the second pulse data combination sequence according to a preset threshold to obtain an X-axis pulse data combination, a Y-axis pulse data combination, and a Z-axis pulse data combination includes:
respectively screening data in the second pulse data combination sequence B in the X-axis direction, the Y-axis direction and the Z-axis direction according to a preset threshold epsilon to obtain a third pulse data combination sequence C, wherein the difference value between the maximum value and the minimum value of each pulse data combination in the third pulse data combination sequence C is smaller than the preset threshold epsilon;
and screening the third pulse data combination sequence C to obtain an X-axis pulse data combination N (m), a Y-axis pulse data combination N (j) and a Z-axis pulse data combination N (k).
In some embodiments, the method comprises: the X-axis pulse data combination N (m) is a combination including the most pulse data in the X-axis direction, the Y-axis pulse data combination N (j) is a combination including the most pulse data in the Y-axis direction, and the Z-axis pulse data combination N (k) is a combination including the most pulse data in the Z-axis direction.
In some embodiments, the measurement device comprises six accelerometers, three of which are in orthogonal positions, and the remaining three are in an oblique arrangement;
the pulse data is an acceleration value, and an output model of the acceleration value Acc is as follows:
N/K 1 ＝K 0 +K xyz Acc
wherein,
installing error matrixes for six accelerometers;
n is the output pulse number of six accelerometers;
k0 is six accelerometer zero positions;
k1 is six accelerometer equivalents.
In some embodiments, the acquiring pulse data output by an inertial measurement unit, the inertial measurement system including six measurement units, three of which are in orthogonal positions and the remaining three of which are in an oblique arrangement, includes:
the inertial measurement unit comprises six gyroscopes, three of which are in orthogonal positions, and the rest of which are arranged obliquely;
the pulse data is angular velocity vector, and the output model is as follows:
N/E 1 ＝D 0 +E Axyz ω
wherein,
installing error matrixes for six gyroscopes;
n is the output pulse number of six gyroscopes;
E 1 is a gyroscope equivalent;
D 0 zero position of the gyroscope;
ω is the angular velocity vector to be calculated.
In some embodiments, the sorting the first pulse data sequence a by the pulse data in the X, Y, and Z axis directions, respectively, to obtain a second pulse data combination sequence B includes:
and sequencing the first pulse data sequence A according to the size of the pulse data in the X, Y and Z axis directions to obtain a second pulse data combination sequence B, wherein each group of first pulse data combination sequences corresponds to one axial direction.
In some embodiments, the sorting the first pulse data sequence a by the speed values in the X, Y, and Z directions, respectively, to obtain three groups of second pulse data combination sequences B, includes:
and sequencing the pulse data sequence A according to the pulse data in the X, Y and Z axis directions from large to small to obtain three groups of second pulse data combination sequences B, wherein each group of second pulse data combination sequences B corresponds to one axial direction.
In another aspect, the present invention further provides a redundant inertial measurement system fault detection apparatus, which includes:
the measurement module is used for acquiring pulse data output by an inertial measurement system, wherein the inertial measurement system comprises at least five measurement devices, three of the measurement devices are in orthogonal positions, and at least two measurement devices are obliquely arranged;
the combined module is used for combining the pulse data of any three measuring devices in all the measuring devices to generate an initial pulse combined sequence, and calculating each combination in the initial pulse combined sequence to obtain a first pulse data sequence;
the screening module is used for screening the pulse data of the first pulse data sequence according to the X-axis direction, the Y-axis direction and the Z-axis direction to obtain a second pulse data combination sequence, screening the second pulse data combination sequence according to a preset threshold value to obtain an X-axis pulse data combination, a Y-axis pulse data combination and a Z-axis pulse data combination, and taking an intersection of the X-axis pulse data combination, the Y-axis pulse data combination and the Z-axis pulse data combination to obtain a fourth pulse data combination sequence; the output data outside the fourth pulse data combination sequence NA are the output data of the fault measuring device
In some embodiments, the screening module may be configured to respectively screen data located in three directions, i.e., an X axis, a Y axis, and a Z axis, in the second pulse data combination sequence B according to a preset threshold epsilon to obtain a third pulse data combination sequence C, where a difference between a maximum value and a minimum value of each pulse data combination in the third pulse data combination sequence C is smaller than the preset threshold epsilon.
In some embodiments, the screening module may be configured to sort the first pulse data sequence a according to the size of the pulse data in the X, Y, and Z axis directions to obtain a second pulse data combination sequence B, where each group of the first pulse data combination sequences corresponds to one axial direction.
Compared with the prior art, the invention has the following advantages:
(1) The fault detection method provided by the invention is simple and easy to implement, and the situations of unsatisfactory detection effect and the like caused by improper model do not exist;
(2) The fault detection method provided by the invention has high fault detection rate, the three-orthogonal three-oblique inertial measurement unit can realize three-degree fault detection, and the three-orthogonal two-oblique inertial measurement unit can realize two-degree fault detection;
(3) The calculation of the combined sequence in the method provided by the invention can adopt a hardware acceleration mode, thereby effectively reducing the calculation time.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a method for detecting a fault in an inertial measurement redundancy system according to an embodiment of the present invention;
fig. 2 is a schematic view of an accelerometer of a triple-orthogonal triple-tilt inertial measurement unit according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The invention provides a fault detection method of a redundant inertial measurement system, which comprises the following steps: acquiring pulse data output by an inertial measurement system, wherein the inertial measurement system comprises at least five measurement devices, three of the five measurement devices are in orthogonal positions, and at least two measurement devices are obliquely arranged; combining the pulse data of any three measuring devices in all the measuring devices to generate an initial pulse combination sequence, and calculating each combination in the initial pulse combination sequence to obtain a first pulse data sequence; screening the pulse data of the first pulse data sequence according to the X-axis direction, the Y-axis direction and the Z-axis direction to obtain a second pulse data combination sequence; screening the second pulse data combination sequence according to a preset threshold value to obtain an X-axis pulse data combination, a Y-axis pulse data combination and a Z-axis pulse data combination; obtaining a fourth pulse data combination sequence by taking an intersection of the X-axis pulse data combination, the Y-axis pulse data combination and the Z-axis pulse data combination; and the output data outside the fourth pulse data combination sequence NA are the output data of the fault measuring device.
The invention also provides a specific embodiment of the method, which comprises the following steps:
s1, pulse data output by an inertia measurement system is obtained, wherein the inertia measurement system comprises six measurement devices, three of the six measurement devices are in orthogonal positions, and the rest three measurement devices are arranged obliquely.
Specifically, the inertial measurement unit may include: six accelerometers, three of which are in orthogonal positions, with the remaining three being disposed in an oblique position. The pulse data is an acceleration value, and an output model of the pulse data is as follows:
N/K 1 ＝K 0 +K xyz Acc
wherein,
six accelerometer installation errors;
n is the output pulse number of six accelerometers; k0 is six accelerometer zero positions; k1 is six accelerometer equivalents; acc is the triaxial acceleration value to be calculated.
Preferably, the accelerometer mounting error K is xyz The first three rows of the three rows correspond to three orthogonal axes x1, y1, z1, respectively, and the last three rows correspond to three diagonal axes x2, y2, z2, respectively.
Further, the inertial measurement unit may include: six gyroscopes, three of which may be set in orthogonal positions, the remaining three tilted. The pulse data is angular velocity vector, and the output model is as follows:
N/E 1 ＝D 0 +E Axyz ω
wherein,
installing error matrixes for six gyroscopes;
n is the output pulse number of six gyroscopes; e 1 Is a gyroscope equivalent; d 0 Is the gyroscope zero position; ω is the angular velocity vector to be calculated.
Preferably, the accelerometer mounting error E xyz The first three rows in the middle correspond to the first three rows respectivelyThe three orthogonal axes x1, y1, z1, the last three rows correspond to the three diagonal axes x2, y2, z2, respectively.
It can be understood that the redundant inertial measurement system can also be additionally provided with six accelerometers and six gyroscopes at the same time, and two kinds of data are used for fault judgment.
And S2, combining the pulse data of any three measuring devices to generate an initial pulse combination sequence, and calculating each combination in the initial pulse combination sequence to obtain a first pulse data sequence A.
When the six measuring devices have three-degree or below fault conditions, 3 pulse data of the six measuring devices are selected to be combined for effective fault isolation, and the combination is total
A sequence of 20 combinations, which is an initial pulse combination sequence, comprising N = { N = x1 N y1 N z1 、N x1 N y1 N x2 、……、N x2 N y2 N z2 }; taking a measuring device as an accelerometer, first, the apparent acceleration value is calculated using the initial pulse combination sequence:
with N x1 N y1 N x2 For example, the set of pulse data has the following apparent acceleration values:
all 20 combinations of the initial pulse combination sequence are calculated by the calculation method to obtain the apparent acceleration value of each combination, and finally the apparent acceleration values are collected to generate a first pulse data sequence A:
A＝{A x1 A y1 A z1 、A x2 A y2 A z2 、……、A x20 A y20 A z20 }
and S3, sequencing the first pulse data sequence A according to the speed values in the X, Y and Z axis directions respectively to obtain a second pulse data combination sequence B.
Specifically, the first pulse data sequence a is sequenced according to the size of the pulse data in the X, Y, and Z axis directions to obtain a second pulse data combination sequence B, and each group of the first pulse data combination sequences corresponds to one axial direction.
Preferably, the pulse data sequence a is sorted according to the size of the pulse data in the X, Y, and Z axis directions to obtain three groups of second pulse data combination sequences B, and each group of second pulse data combination sequences B corresponds to one axial direction. Of course, the sorting mode can also be selected from small to large.
S4, screening the second pulse data combination sequence B according to a preset threshold epsilon to obtain an X-axis pulse data combination N (m), a Y-axis pulse data combination N (j) and a Z-axis pulse data combination N (k);
specifically, step S4 includes: respectively screening the second pulse data combination sequences B in the three axial directions according to a preset threshold epsilon to obtain third pulse data combination sequences C, wherein the difference value between the maximum value and the minimum value of each pulse data combination in the third pulse data combination sequences C is smaller than the preset threshold epsilon;
it should be noted that the threshold value epsilon is an optimal estimation value obtained through a large number of simulation experiments. The simulation means that different predesigned fault modes are injected into a normally running system, and the output data interval of the normal system is obtained through multiple times of simulation.
Further, the third pulse data combination sequence C is screened to obtain an X-axis pulse data combination N (m), a Y-axis pulse data combination N (j), and a Z-axis pulse data combination N (k). The X-axis pulse data combination N (m) is a combination containing the most pulse data in the X-axis direction, the Y-axis pulse data combination N (j) is a combination containing the most pulse data in the Y-axis direction, and the Z-axis pulse data combination N (k) is a combination containing the most pulse data in the Z-axis direction.
And S5, obtaining an intersection of the X-axis pulse data combination N (m), the Y-axis pulse data combination N (j) and the Z-axis pulse data combination N (k) to obtain a fourth pulse data combination sequence NA, wherein output data in the fourth pulse data combination sequence NA are output data of a normal working measuring device, and output data not in the fourth pulse data combination sequence NA are output data of a fault measuring device.
Specifically, the calculation formula of the intersection is as follows:
NA＝N(m)∩N(j)∩N(k)
it should be noted that the measurement device in the redundant inertial measurement system mentioned above is disposed in a triple-orthogonal triple-tilt arrangement, and can detect faults of three degrees or less. The third degree is the number of faults of the measuring device, for example, two-degree faults are caused by two damaged gyroscopes, and three-degree faults are caused by three damaged gyroscopes. In actual work, the measuring device of the redundant inertial measurement system can be configured to be arranged in a three-orthogonal two-oblique mode, and the redundant inertial measurement system can detect and judge faults of two degrees or less. The fault detection method of the three-orthogonal two-oblique redundant inertial measurement system is the same as that of the three-orthogonal three-oblique redundant inertial measurement system.
It can be understood that the algorithm in the fault detection method according to the embodiment of the present invention may be calculated in parallel, that is, a plurality of combinations may be calculated simultaneously. Therefore, simultaneous calculation can be performed by using devices such as an FPGA (Field Programmable Gate Array), and serial calculation such as a DSP (digital signal processor) is not limited to be used. According to the scheme of the embodiment of the application, the calculation process can be accelerated through hardware change, and the calculation time is effectively reduced.
In another aspect, the present invention further provides a fault detection apparatus for a redundant inertial measurement system, including:
the measurement module is used for acquiring pulse data output by an inertial measurement system, wherein the inertial measurement system comprises at least five measurement devices, three of the measurement devices are in orthogonal positions, and at least two measurement devices are obliquely arranged;
the combined module is used for combining the pulse data of any three measuring devices in all the measuring devices to generate an initial pulse combined sequence, and calculating each combination in the initial pulse combined sequence to obtain a first pulse data sequence;
the screening module is used for screening the pulse data of the first pulse data sequence according to the X-axis direction, the Y-axis direction and the Z-axis direction to obtain a second pulse data combination sequence, and screening the second pulse data combination sequence according to a preset threshold value to obtain an X-axis pulse data combination, a Y-axis pulse data combination and a Z-axis pulse data combination; obtaining a fourth pulse data combination sequence by taking an intersection of the X-axis pulse data combination, the Y-axis pulse data combination and the Z-axis pulse data combination; and the output data outside the fourth pulse data combination sequence NA are the output data of the fault measuring device, and the measuring device with the fault can be found according to the fault data.
It should be noted that the screening module may be configured to respectively screen data located in three directions, i.e., an X axis, a Y axis, and a Z axis, in the second pulse data combination sequence B according to a preset threshold epsilon to obtain a third pulse data combination sequence C, where a difference between a maximum value and a minimum value of each pulse data combination in the third pulse data combination sequence C is smaller than the preset threshold epsilon.
It can be understood that the screening module may be configured to sort the first pulse data sequence a according to the size of the pulse data in the X, Y, and Z axis directions to obtain a second pulse data combination sequence B, where each group of the first pulse data combination sequences corresponds to one axial direction.
In summary, the invention discloses a fault detection method for a redundant inertia measurement system, which is based on enumeration sequencing and has the advantages of simple and easy execution, and no situations of non-ideal detection effect and the like caused by improper models. In the scheme of the invention, three-degree fault detection can be realized by configuring the tri-orthogonal tri-skew inertial measurement unit. And a three-orthogonal two-inclined inertial measurement unit can be configured to realize two-degree fault detection. Compared with the related art, the fault detection rate of the fault detection method is improved. In addition, the calculation of the combined sequence in the method provided by the invention can adopt a hardware acceleration mode, thereby effectively reducing the calculation time.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A fault detection method of a redundant inertial measurement system, comprising the steps of:
acquiring pulse data output by an inertial measurement system, wherein the inertial measurement system comprises at least five measurement devices, three of the five measurement devices are in orthogonal positions, and at least two measurement devices are obliquely arranged;
combining the pulse data of any three measuring devices in all the measuring devices to generate an initial pulse combination sequence, and calculating each combination in the initial pulse combination sequence to obtain a first pulse data sequence;
screening the pulse data of the first pulse data sequence according to X, Y, Z three-axis directions to obtain a second pulse data combination sequence;
screening the second pulse data combination sequence according to a preset threshold value to obtain an X-axis pulse data combination, a Y-axis pulse data combination and a Z-axis pulse data combination;
obtaining a fourth pulse data combination sequence by taking an intersection of the X-axis pulse data combination, the Y-axis pulse data combination and the Z-axis pulse data combination;
and output data outside the fourth pulse data combination sequence NA are output data of a fault measuring device.
2. The method of claim 1, wherein the step of screening the second pulse data combination sequence according to a predetermined threshold to obtain an X-axis pulse data combination, a Y-axis pulse data combination, and a Z-axis pulse data combination comprises:
respectively screening data in the second pulse data combination sequence B in the X-axis direction, the Y-axis direction and the Z-axis direction according to a preset threshold epsilon to obtain a third pulse data combination sequence C, wherein the difference value between the maximum value and the minimum value of each pulse data combination in the third pulse data combination sequence C is smaller than the preset threshold epsilon;
and screening the third pulse data combination sequence C to obtain an X-axis pulse data combination N (m), a Y-axis pulse data combination N (j) and a Z-axis pulse data combination N (k).
3. The fault detection method of claim 2, wherein:
the X-axis pulse data combination N (m) is a combination including the most pulse data in the X-axis direction, the Y-axis pulse data combination N (j) is a combination including the most pulse data in the Y-axis direction, and the Z-axis pulse data combination N (k) is a combination including the most pulse data in the Z-axis direction.
4. The fault detection method according to claim 1, characterized in that:
the measuring device comprises six accelerometers, wherein three accelerometers are in orthogonal positions, and the remaining three accelerometers are arranged in an inclined mode;
the pulse data is an acceleration value, and an output model of the acceleration value Acc is as follows:
wherein,
installing error matrixes for six accelerometers;
n is the output pulse number of the six accelerometers;
5. The fault detection method of claim 1, wherein said obtaining pulse data output by an inertial measurement system, said inertial measurement system including at least five measurement devices, three of which are in orthogonal positions, at least two of which are in a tilted arrangement, comprises:
the measuring device comprises six gyroscopes, wherein three gyroscopes are in orthogonal positions, and the remaining three gyroscopes are arranged obliquely;
the pulse data is angular velocity vector, and the output model is as follows:
wherein,
installing error matrixes for six gyroscopes;
n is the output pulse number of six gyroscopes;
6. The method according to claim 1, wherein the step of screening the pulse data of the first pulse data sequence in three axial directions of X, Y, Z to obtain a second pulse data combination sequence comprises:
and sequencing the first pulse data sequence A according to the size of the pulse data in the X, Y and Z axis directions to obtain a second pulse data combination sequence B, wherein each group of first pulse data combination sequences corresponds to one axial direction.
7. The method according to claim 6, wherein the step of screening the pulse data of the first pulse data sequence in three axial directions of X, Y, Z to obtain a second pulse data combination sequence comprises:
and sequencing the first pulse data sequence A according to the pulse data in the X, Y and Z axis directions from large to small to obtain three groups of second pulse data combination sequences B, wherein each group of second pulse data combination sequences B corresponds to one axial direction.
8. A fault detection device for a redundant inertial measurement system, comprising:
the measurement module is used for acquiring pulse data output by an inertial measurement system, wherein the inertial measurement system comprises at least five measurement devices, three of the measurement devices are in orthogonal positions, and at least two measurement devices are obliquely arranged;
the combination module is used for combining the pulse data of any three measuring devices in all the measuring devices to generate an initial pulse combination sequence, and calculating each combination in the initial pulse combination sequence to obtain a first pulse data sequence;
and the screening module is used for screening the pulse data of the first pulse data sequence in the X, Y and Z axis directions to obtain a second pulse data combination sequence, screening the second pulse data combination sequence according to a preset threshold to obtain an X-axis pulse data combination, a Y-axis pulse data combination and a Z-axis pulse data combination, and obtaining a fourth pulse data combination sequence by taking an intersection from the X-axis pulse data combination, the Y-axis pulse data combination and the Z-axis pulse data combination, wherein output data outside the fourth pulse data combination sequence NA are output data of the fault measurement device.
9. The fault detection device of claim 8, wherein:
and the screening module is used for respectively screening data in the second pulse data combination sequence B in the X-axis direction, the Y-axis direction and the Z-axis direction according to a preset threshold epsilon to obtain a third pulse data combination sequence C, and the difference value between the maximum value and the minimum value of each pulse data combination in the third pulse data combination sequence C is smaller than the preset threshold epsilon.
10. The fault detection device of claim 8, wherein:
the screening module is used for sequencing the first pulse data sequence A according to the size of the pulse data in the X, Y and Z axis directions to obtain a second pulse data combination sequence B, and each group of first pulse data combination sequences corresponds to one axial direction.
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