CN113720355B - Gyroscope output saturation autonomous diagnosis method and system - Google Patents
Gyroscope output saturation autonomous diagnosis method and system Download PDFInfo
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Abstract
The invention discloses a gyroscopic output saturation autonomous diagnosis method and a gyroscopic output saturation autonomous diagnosis system, wherein the method designs 1 gyroscopic measurement range judgment condition and 4 polarity inversion judgment conditions which are respectively used as gyroscopic saturation output judgment and polarity inversion judgment, and the 5 criteria are subjected to data fusion and are jointly used as gyroscopic output saturation autonomous diagnosis state marks. Omega Maxn According to the design range of the gyroscope and considering a certain margin, the gyroscope is designed with delta g max According to the maximum angular acceleration a of the umbrella ωmax The design is carried out, and the speed increment and the angle increment of the gyroscope are effectively ensured to meet the requirements of model tasks. The invention enables the IMU to autonomously and timely remove the gyro data with abnormal output, and can effectively improve the robustness of the IMU product in inertial navigation or combined navigation work.
Description
Technical Field
The invention belongs to the technical field of spark access cabin inertia measurement units (EDLs), and particularly relates to a gyroscopic output saturation autonomous diagnosis method and system.
Background
The Inertial Measurement Unit (IMU) is a core single machine of the satellite navigation system, does not depend on external input information, can measure the triaxial angular velocity and visual acceleration of the carrier relative to the inertial space in real time, and obtains information such as the triaxial velocity, position, attitude and the like of the carrier relative to the inertial space through navigation calculation. With the technical milestone crossing of deep space exploration tasks in China from the earth and moon system to the inter-planet system, blowout type launch will occur in future earth and foreign body landing and exploration tasks, the requirements of return satellites such as scientific breeding/testing and the like are continuously increased, and the requirements on IMU inertial navigation systems and the requirements on system robustness are also increased in a bursting type.
The gyroscope is a core inertial instrument of an IMU product, and due to the influence of factors such as the working characteristic of the fiber-optic gyroscope and the maneuvering characteristic of the flying or landing of the aircraft, the possibility of output polarity inversion exists after the intrinsic range of the fiber-optic gyroscope is exceeded, so that output data is abnormal, and if the abnormal data is not timely and effectively removed, the inertial navigation of the aircraft is adversely affected.
Disclosure of Invention
The invention solves the technical problems that: the method and the system for autonomously diagnosing the output saturation of the gyroscope can automatically diagnose the condition of output saturation or polarity inversion by outputting data by the fiber-optic gyroscope, timely eliminates gyroscope data with abnormal output, adopts correct data to perform inertial navigation or integrated navigation of various spacecrafts, improves the robustness of IMU products during the inertial navigation or integrated navigation operation, and ensures high reliability and success of model tasks.
The invention aims at realizing the following technical scheme: a gyroscopic output saturation autonomous diagnostic method, the method comprising the steps of: step one: obtaining the maximum theoretical measuring range + -omega of the fiber optic gyroscope according to the light source wavelength lambda, the light velocity c, the fiber optic ring length L and the fiber optic ring equivalent diameter D of the fiber optic gyroscope MAX The method comprises the steps of carrying out a first treatment on the surface of the Step two: according to the maximum theoretical measuring range + -omega of the fiber optic gyroscope in the first step MAX The optical fiber gyro is horizontally arranged on a single-axis speed turntable, and the input axis is parallel to the rotating shaft of the turntableAt an input angular rate omega i Loading until the polarity inversion phenomenon occurs in the output of the fiber-optic gyroscope, and recording the output data P of the fiber-optic gyroscope when the polarity inversion phenomenon occurs in the output of the fiber-optic gyroscope i Drawing an output characteristic curve; step three: according to the input angular rate omega of the output of the fiber optic gyroscope when the polarity inversion phenomenon occurs i (i=1, 2,3 …) and gyro output data P ji Performing least square fitting to obtain a scale factor K of the fiber-optic gyroscope j j And maximum range + -omega MAXj (j=1, 2,3 …, N); step four: repeating the steps one to three until the scale factors and the maximum ranges of the N optical fiber gyroscopes are obtained, and obtaining the limit value omega of the gyro overrange of each optical fiber gyro according to the maximum range of each optical fiber gyro Maxn The method comprises the steps of carrying out a first treatment on the surface of the Step five: according to the maximum angular acceleration a of the Mars entering the cabin for opening the umbrella ωmax Obtaining the maximum angle increment limit value delta g of the Mars entering cabin opening umbrella max The method comprises the steps of carrying out a first treatment on the surface of the Step six: according to the angle increment delta g acquired by the fiber-optic gyroscope in the mth sampling period (m) Limit omega of gyro overrange of optical fiber gyro Maxn Sampling period delta t of fiber-optic gyroscope s Maximum angular increment limit deltag for opening of Mars into cabin max The angle increment delta g acquired by the fiber-optic gyroscope in the m-1 th sampling period (m-1) The angle increment delta g acquired by the fiber-optic gyroscope in the m-2 th sampling period (m-2) Substituting the fiber optic gyroscope into a gyroscope saturation identifier formula, and if the gyroscope saturation identifier is 0, indicating that the fiber optic gyroscope is saturated in the navigation period.
In the above-mentioned autonomous diagnosis method for output saturation of gyro, in the first step, the maximum theoretical range ±Ω of the fiber optic gyro MAX The method comprises the following steps:
in the above-mentioned autonomous diagnosis method for output saturation of gyroscopes, in the fourth step, the limit value ω of the gyro overrun of each fiber optic gyro Maxn 70% -80% of the maximum measuring range of the corresponding fiber-optic gyroscope.
In the above autonomous diagnosis method for gyro output saturation, in step six, the formula of the gyro saturation identifier is:
G Flag ＝F ω F dω1 F dω2 F dω3 F dω4 ；
wherein G is Flag For gyro saturation identifier F ω Saturation identifier for angular velocity of gyro, F dω1 First polarity inversion identifier for angular acceleration of gyro, F dω2 Second polarity inversion identifier for angular acceleration of gyro, F dω3 Third polar flip identifier for angular acceleration of gyro, F dω4 And a fourth polar flip identifier for the angular acceleration of the gyroscope.
In the gyro output saturation autonomous diagnosis method, the angular velocity saturation identifier F of the screw ω The method comprises the following steps:
in the above-mentioned autonomous diagnosis method for output saturation of gyro, the first polarity inversion identifier F of angular acceleration of gyro dω1 The method comprises the following steps:
in the above-mentioned gyro output saturation autonomous diagnosis method, the angular acceleration of the gyro is second polarity inversion identifier F dω2 The method comprises the following steps:
in the above-mentioned autonomous diagnosis method for output saturation of gyro, the angular acceleration of gyro is third polar inversion identifier F dω3 The method comprises the following steps:
above-mentioned top output saturation autonomous diagnosisIn the breaking method, the angular acceleration of the gyroscope is fourth polar inverted identifier F dω4 The method comprises the following steps:
a gyroscopic output saturation autonomous diagnostic system comprising: a first module for obtaining a maximum theoretical range + -omega of the fiber optic gyroscope according to the light source wavelength lambda, the light velocity c, the fiber optic ring length L and the fiber optic ring equivalent diameter D of the fiber optic gyroscope MAX The method comprises the steps of carrying out a first treatment on the surface of the A second module for determining + -omega of maximum theoretical range of fiber optic gyroscope MAX The optical fiber gyro is horizontally arranged on a single-axis speed turntable, the input axis is parallel to the rotating shaft of the turntable, and the angular speed omega is input i Loading until the polarity inversion phenomenon occurs in the output of the fiber-optic gyroscope, and recording the output data P of the fiber-optic gyroscope when the polarity inversion phenomenon occurs in the output of the fiber-optic gyroscope i Drawing an output characteristic curve; a third module for outputting the input angular rate omega when the polarity inversion phenomenon occurs according to the fiber optic gyroscope i (i=1, 2,3 …) and gyro output data P ji Performing least square fitting to obtain a scale factor K of the fiber-optic gyroscope j j And maximum range + -omega MAXj (j=1, 2,3 …, N); a fourth module for obtaining the limit value omega of the gyro overrange of each fiber-optic gyro according to the maximum range of each fiber-optic gyro until the scale factors and the maximum ranges of N fiber-optic gyroscopes are obtained Maxn The method comprises the steps of carrying out a first treatment on the surface of the A fifth module for opening the umbrella according to the maximum angular acceleration a of the Mars entering the cabin ωmax Obtaining the maximum angle increment limit value delta g of the Mars entering cabin opening umbrella max The method comprises the steps of carrying out a first treatment on the surface of the A sixth module for acquiring an angle increment delta g in the mth sampling period according to the fiber-optic gyroscope (m) Limit omega of gyro overrange of optical fiber gyro Maxn Sampling period delta t of fiber-optic gyroscope s Maximum angular increment limit deltag for opening of Mars into cabin max The angle increment delta g acquired by the fiber-optic gyroscope in the m-1 th sampling period (m-1) The angle increment delta g acquired by the fiber-optic gyroscope in the m-2 th sampling period (m- 2) Substituting the formula of the gyro saturation identifier, and if the gyro saturation identifier is 0, then the tableThe fiber optic gyroscope is saturated in the navigation period.
Compared with the prior art, the invention has the following beneficial effects:
(1) The invention obtains the scale factor K and the maximum range omega of each fiber optic gyroscope through the characteristic of the fiber optic gyroscope over-range output characteristic curve and test data MAX The effect achieved is that the omega according to each gyro can be MAX The output turnover limit value is accurately known, so that the inertial navigation system gyroscope overrange limit value omega can be conveniently carried out Maxn And a maximum angular increment limit Δg for opening the umbrella max The design of the spinning top can effectively ensure that the speed increment and the angle increment of the spinning top meet the requirements of model tasks.
(2) The invention passes through omega MAX For ω with design margin (typically 70% -80%) taken into account Maxn Designing according to angular velocity characteristics corresponding to two adjacent sampling periodsAnd maximum angular acceleration a of opening the umbrella ωmax Maximum angular increment limit deltag for opening and closing umbrella max And the design is carried out, so that the design of output saturation judgment conditions is realized.
(3) According to the invention, through 1 gyroscope measuring range judging condition (shown as a formula 1), 4 polarity turning judging conditions (shown as a formula 2) are respectively used as gyroscope saturation output judging and polarity turning judging, and the 5 criteria are subjected to data fusion, so that fault characteristics such as output saturation, beat turning, front beat turning, polarity turning and the like can be effectively identified.
(4) The invention passes through G of a certain gyro Flag And 0, the gyroscope can be judged to be saturated in the navigation period, and the IMU or the satellite-borne inertial navigation system can autonomously and timely remove gyroscope data with abnormal output, so that the robustness of the IMU product in inertial navigation or integrated navigation operation can be effectively improved.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 is a schematic diagram of an overscan output characteristic curve of a fiber optic gyroscope;
FIG. 2 is a graph showing the actual measurement of the overscan output characteristics of a fiber-optic gyroscope;
FIG. 3 is a schematic diagram of a fiber optic gyroscope range and polarity test;
fig. 4 is a schematic diagram of a gyroscopic output saturation autonomous diagnostic procedure.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
The embodiment provides a gyroscopic output saturation autonomous diagnosis method, which comprises the following steps:
step one: according to the interference phase detection principle of the optical fiber gyro measuring range, the optical fiber gyro light source wavelength lambda, the light speed c, the optical fiber ring length L and the optical fiber ring equivalent diameter D are brought into a measuring range formulaObtaining the maximum theoretical measuring range + -omega of the fiber optic gyroscope in the parameter state MAX 。
Step two: according to the maximum theoretical measuring range + -omega of the fiber optic gyroscope in the first step MAX The optical fiber gyro is horizontally arranged on a single-axis speed turntable, the input axis is parallel to the rotating shaft of the turntable, and the angular speed omega is input i (0 °/s, + -0.001 Ω) MAX 、±0.005Ω MAX 、±0.01Ω MAX 、±0.05Ω MAX 、±0.1Ω MAX 、±0.25Ω MAX 、±0.50Ω MAX 、±0.75Ω MAX 、±Ω MAX 、±1.1Ω MAX 、±1.2Ω MAX 、±1.3Ω MAX …) loading until polarity inversion phenomenon appears in gyro output, and recording gyro output data P under the angular rate condition i And draws an output characteristic curve as shown in fig. 1.
Step three: according to the input angular rate omega in the second step i (i=1, 2,3 …) and gyro output data P ji Performing least square fitting to obtain a scale factor K of the gyroscope j j And maximum range + -omega MAXj (j=1, 2,3 …, N), repeating the above steps until all gyroscopes are detected, where N is typically less than or equal to 6 (N is a natural number).
Step four: according to the respective maximum measuring range + -omega of N gyroscopes in the third step MAXj (j=1, 2,3 …, N), taking into account the design margin, for the limit ω of gyro overrun Maxn Determination is made (typically ω Maxn Is omega MAXj 70% -80%) of the GnC system under the limit working condition, and ensuring that the gyro data introduced into the GnC system is true and reliable data.
Step five: according to omega in step four Maxn Calculating the maximum angle increment limit delta g of the open umbrella max 。Δg max It is necessary to make the maximum angular acceleration a of the umbrella ωmax To carry out the design of the device,ω 2 and omega 1 Angular velocity, < +.>
Step six: according to step five omega Maxn 、Δg max 、a ωmax And the sampling period of the gyroscope is recorded as deltat s The navigation period is T, where t=nΔt s N is more than or equal to 2. Recording the angle increment of the gyroscope in the last two sampling periods of the last navigation period asΔg (-1) ，Δg (0) . Considering two factors of gyroscope range and polarity inversion, the following judgment conditions are designed (the gyroscope is considered to be saturated when any one of the following conditions is met):
(1) And (3) carrying out saturation judgment on the angular velocity of the gyroscope, wherein the method comprises the following steps of:
Δg above (m) Representing the angular increment of the gyro acquired in the mth sampling period, m=1, …, N, ω Maxn Is the saturation limit of the gyro angular velocity.
(2) And (3) performing polarity inversion judgment on the angular acceleration of the gyroscope, wherein the polarity inversion judgment is as follows:
wherein Δg max For gyro at s The angular increment limit, possibly across stripes, is set according to the gyroscopic properties and the dynamic polarity of the parachute process, m=1, …, N.
(3) Judging whether the gyroscope is saturated or not, and recording a saturation identifier as G Flag
G Flag ＝F ω F dω1 F dω2 F dω3 F dω4 (3)
If G Flag 1, indicating that the gyro is not saturated in the navigation period; conversely, if G Flag A 0 indicates that the gyro is saturated during the navigation period.
Step seven: g according to each gyro in step six Flag The flag bit value is used for output saturation judgment, which comprises 1 judgment condition of the gyro measuring range (shown as a formula 1), 4 judgment conditions of polarity inversion (shown as a formula 2), which are respectively used as gyro saturation output judgment and polarity inversion judgment, and the 5 criteria are used for data fusion and are jointly used as a state sign of gyro output saturation autonomous diagnosis. When G of a certain gyro Flag 0, then indicate the topSaturation occurs in the navigation period, and the IMU or the satellite-borne inertial navigation system can autonomously and timely remove gyro data with abnormal output, so that the robustness of the IMU product in inertial navigation or integrated navigation operation can be effectively improved.
And (3) analyzing the measuring range and polarity of the fiber optic gyroscope:
according to the interference phase detection principle of the measuring range of the fiber-optic gyroscope, calculating the lambda=1310nm, c=3×108m/s, L approximately 300m and D approximately 85mm of a certain fiber-optic gyroscope according to theory. The maximum angular velocity is as follows:
and (3) testing the measuring range and polarity of the fiber optic gyroscope:
the fiber optic gyroscope was placed on a single axis turntable with the input axis parallel to g as shown in fig. 3. The test angular velocity Ω can be measured in terms of output characteristics and polarities at rate points of 0 °/s, ±0.001 °/s, ±0.005 °/s, ±0.01°/s, ±0.05°/s, ±0.1°/s, ±0.5°/s, ±1°/s, ±5°/s, ±10°/s, ±25°/s, ±50°/s, ±100°/s, ±200°/s, ±300°/s, ±400°/s, ±500°/s, ±600°/s, and the like, recording the output pulse value at each rate point, and plotting a "rate-pulse output" curve as shown in fig. 2.
Use of data from the output non-polarity inversion interval for the ith gyro scale factor K i Fitting of (i=1, 2,3, …) is performed according to 8 bits (maximum output value is 2) of the output register of a certain type of fiber-optic gyroscope 8 255) and the eigenvalue 336kHz, the theoretical value of the maximum output pulse after 32 division is 2688000 ++s (255 x 336000/32), divided by the gyro scale factor Ki (i=1, 2,3, …), which is the theoretical measuring range of each gyro.
For example, the scale factor K of the 1 st gyro 1 6180.632, the maximum output angular velocity is 2688000/6180.632 = 434.9069804 °/s. According to the calculated value, the maximum angular velocity of the fiber-optic gyroscope delivered by rechecking reaches over a speed measuring range of +/-400 degrees/s, and the use requirement of the model is met.
Autonomous diagnosis of gyro output saturation:
in the scheme of the GNC inertial navigation system, the limit value of the gyroscope over-range can be judged according to the theoretical analysis value or the actual measurement value of the fiber-optic gyroscope range and under the condition of considering design margin, so that the gyroscope data introduced into the GNC system under the limit working condition is ensured to be real and reliable data. . Because the IMU has polarity inversion after exceeding the measuring range, the judgment of saturation needs to consider two factors of the gyroscope measuring range and polarity inversion.
The target-shooting simulation shows that the maximum angular acceleration of the Mars entering the cabin for opening the umbrella is 14500 degrees/s 2 Since the sampling period of the IMU is 16ms, the increment of the angular velocity of the front and back beats does not exceed 14500 degrees/s 2 ×16ms＝232°/s。
The designed gyro saturated output judging conditions are as follows:
condition 1: if the sampling period (denoted as deltat) is at any m (1-8) 1 ) The acquired angle increment delta g nm |>Δt1·ω Maxn ；
Based on the above analysis, the specific calculation formula and logic judgment sequence are as follows:
the sampling period of the gyroscope is recorded as delta t s The navigation period is T, where t=nΔt s ,N≥2。
Recording the angle increment of the gyroscope in the last two sampling periods of the last navigation period, and recording the angle increment as delta g (-1)， Δg (0) 。
And (3) carrying out saturation judgment on the angular velocity of the gyroscope, wherein the method comprises the following steps of:
Δg above (m) Representing the angular increment of the gyro acquired in the mth sampling period, m=1, …, N, ω Max The saturation threshold for the gyro angular velocity can be defaulted to 300 °/s.
(4) Autonomous diagnosis of polarity inversion of gyroscope output
As shown in fig. 4, since the design range of the gyro is ±400°/s and the measurement accuracy of the gyro is drastically reduced in consideration of the larger angular velocity, ωmaxn may be 300 °/s (the value may be also taken in consideration of a margin of 20% to 30% depending on the design range); Δgmax is designed according to the maximum angular acceleration aωmax of the umbrella, and a is recorded as aωmax:
wherein omega 2 And omega 1 Angular velocities corresponding to two adjacent sampling periods, respectively. The above can be written as:
the target-shooting simulation shows that the maximum angular acceleration of the Mars entering the cabin for opening the umbrella is 14500 degrees/s 2 Since the sampling period of the IMU is 16ms, the angle increment deltag max No more than 0.5 x 14500 DEG/s 2 x 16ms ≡1.86 deg.
The designed gyroscope output polarity inversion judgment conditions are as follows:
condition 2: if at any of m (1-8) th and (m-1) th deltat 1 The angle increment of periodic collection is: Δg n(m-1) >Δg max And Δg n(m) <0；
Condition 3: if at any of m (1-8) th and (m-1) th deltat 1 The angle increment of periodic collection is: Δg n(m-1) <-Δg max And Δg n(m) >0；
Condition 4: if at any of m (1-8) th and (m-2) th deltat 1 The angle increment of periodic collection is: Δg n(m-2) >Δg max And Δg n(m) <0；
Condition 5: if at any of m (1-8) th and (m-2) th deltat 1 The angle increment of periodic collection is: Δg n(m-2) <-Δg max And Δg n(m) >0；
Based on the above analysis, the specific calculation formula and logic judgment sequence are as follows:
top-recording deviceSample period is Deltat s The navigation period is T, where t=nΔt s ,N≥2。
Recording the angle increment of the gyroscope in the last two sampling periods of the last navigation period, and recording the angle increment as delta g (-1)， Δg (0) 。
And (3) performing polarity inversion judgment on the angular acceleration of the gyroscope, wherein the polarity inversion judgment is as follows:
wherein Δg max For gyro at s The angular increment threshold, possibly across stripes, is set according to the gyroscopic properties and the dynamic polarity of the parachuting process, m=1, …, N.
Autonomous diagnosis of gyro output data anomalies:
in inertial navigation or integrated navigation of an Inertial Measurement Unit (IMU) in an Electronic Device (EDL) or other flight processes, gyro output is deadly harm to an inertial navigation system no matter saturation or polarity inversion is achieved, so that comprehensive judgment of gyro output data abnormality, including output saturation abnormality judgment and output polarity inversion judgment, is required. Recording the gyro output abnormality identifier as G Flag ：
G Flag ＝F ω F dω1 F dω2 F dω3 F dω4
If G Flag If the data is 1, the gyroscope is indicated to output normal data in the navigation period, and the data is available; if G Flag If the data is 0, the condition that the output data of the gyroscope is abnormal in the navigation period is indicated, the beat data of the gyroscope is required to be removed, and the robustness of the IMU product in inertial navigation or integrated navigation operation can be effectively improved.
The embodiment also provides a gyroscopic output saturation autonomous diagnostic system, which comprises: a first module for obtaining a maximum theoretical range + -omega of the fiber optic gyroscope according to the light source wavelength lambda, the light velocity c, the fiber optic ring length L and the fiber optic ring equivalent diameter D of the fiber optic gyroscope MAX The method comprises the steps of carrying out a first treatment on the surface of the A second module for determining + -omega of maximum theoretical range of fiber optic gyroscope MAX The optical fiber gyro is horizontally arranged on a single-axis speed turntable, the input axis is parallel to the rotating shaft of the turntable, and the angular speed omega is input i Loading until the polarity inversion phenomenon occurs in the output of the fiber-optic gyroscope, and recording the output data P of the fiber-optic gyroscope when the polarity inversion phenomenon occurs in the output of the fiber-optic gyroscope i Drawing an output characteristic curve; a third module for outputting the input angular rate omega when the polarity inversion phenomenon occurs according to the fiber optic gyroscope i (i=1, 2,3 …) and gyro output data P ji Performing least square fitting to obtain a scale factor K of the fiber-optic gyroscope j j And maximum range + -omega MAXj (j=1, 2,3 …, N); a fourth module for obtaining the limit value omega of the gyro overrange of each fiber-optic gyro according to the maximum range of each fiber-optic gyro until the scale factors and the maximum ranges of N fiber-optic gyroscopes are obtained Maxn The method comprises the steps of carrying out a first treatment on the surface of the A fifth module for opening the umbrella according to the maximum angular acceleration a of the Mars entering the cabin ωmax Obtaining the maximum angle increment limit value delta g of the Mars entering cabin opening umbrella max The method comprises the steps of carrying out a first treatment on the surface of the A sixth module for acquiring an angle increment delta g in the mth sampling period according to the fiber-optic gyroscope (m) Limit omega of gyro overrange of optical fiber gyro Maxn Sampling period delta t of fiber-optic gyroscope s Maximum angular increment limit deltag for opening of Mars into cabin max The angle increment delta g acquired by the fiber-optic gyroscope in the m-1 th sampling period (m-1) The angle increment delta g acquired by the fiber-optic gyroscope in the m-2 th sampling period (m-2) Substituting the fiber optic gyroscope into a gyroscope saturation identifier formula, and if the gyroscope saturation identifier is 0, indicating that the fiber optic gyroscope is saturated in the navigation period.
In the embodiment, a gyro output characteristic calibration test method is designed aiming at the output characteristic of the optical fiber gyro with polarity inversion after exceeding the measuring range, and a gyro exceeding range limit omega is provided Maxn And a maximum angular increment limit Δg for opening the umbrella max According to the calculation method, a series of complex judgment conditions are designed in consideration of two factors of gyro output overscan and polarity inversion, so that autonomous diagnosis can be conducted on output saturation or polarity inversion conditions through output data of the fiber-optic gyro, abnormal output gyro data can be removed timely, inertial navigation or integrated navigation of various space vehicles is conducted by adopting correct data, robustness of an IMU product in inertial navigation or integrated navigation work is improved, and high reliability and success of model tasks are ensured.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
Claims (10)
1. A gyroscopic output saturation autonomous diagnostic method, the method comprising the steps of:
step one: obtaining the maximum theoretical measuring range of the fiber optic gyroscope according to the light source wavelength lambda, the light speed c, the fiber optic ring length L and the fiber optic ring equivalent diameter D of the fiber optic gyroscope;
step two: according to the maximum theoretical measuring range of the fiber optic gyroscope in the first step, horizontally placing the fiber optic gyroscope on a single-axis speed turntable, loading the fiber optic gyroscope according to an input angular rate, until the output of the fiber optic gyroscope has a polarity inversion phenomenon, and recording fiber optic gyroscope output data when the output of the fiber optic gyroscope has the polarity inversion phenomenon;
step three: performing least square fitting according to the input angular rate of the output of the fiber optic gyroscope when the polarity inversion phenomenon occurs and the output data of the gyroscope to obtain the scale factor and the maximum range of the fiber optic gyroscope;
step four: repeating the first to third steps until the scale factors and the maximum ranges of N optical fiber gyroscopes are obtained, and obtaining the limit value of the gyro overrange of each optical fiber gyro according to the maximum range of each optical fiber gyro;
step five: obtaining a maximum angle increment limit value of the Mars entering the cabin opening umbrella according to the maximum angle acceleration of the Mars entering the cabin opening umbrella;
step six: substituting the angle increment acquired by the optical fiber gyroscope in the m-th sampling period, the limit value of the gyro overranging of the optical fiber gyroscope, the sampling period of the optical fiber gyroscope, the maximum angle increment limit value of the spark entering cabin opening umbrella, the angle increment acquired by the optical fiber gyroscope in the m-1 th sampling period and the angle increment acquired by the optical fiber gyroscope in the m-2 th sampling period into a gyro saturation identifier formula, and if the gyro saturation identifier is 0, indicating that the optical fiber gyroscope is saturated in the sampling period.
2. The gyroscopic output saturation autonomous diagnostic method of claim 1, wherein: in the first step, the maximum theoretical measuring range of the fiber optic gyroscope is + -omega MAX The method comprises the following steps:
3. the gyroscopic output saturation autonomous diagnostic method of claim 1, wherein: in the fourth step, the limit value omega of the gyro overrun of each fiber optic gyro Maxn 70% -80% of the maximum measuring range of the corresponding fiber-optic gyroscope.
4. The gyroscopic output saturation autonomous diagnostic method of claim 1, wherein: in step six, the gyro saturation identifier formula is:
G Flag ＝F ω F dω1 F dω2 F dω3 F dω4 ；
wherein G is Flag For gyro saturation identifier F ω Saturation identifier for angular velocity of gyro, F dω1 First polarity inversion identifier for angular acceleration of gyro, F dω2 Second polarity inversion identifier for angular acceleration of gyro, F dω3 Third polar flip identifier for angular acceleration of gyro, F dω4 And a fourth polar flip identifier for the angular acceleration of the gyroscope.
5. The gyroscopic output saturation autonomous diagnostic method of claim 4, wherein: spiral angular velocity saturation identifier F ω The method comprises the following steps:
6. the gyroscopic output saturation autonomous diagnostic method of claim 4, wherein: first polarity inversion identifier F of angular acceleration of gyroscope dω1 The method comprises the following steps:
7. the gyroscopic output saturation autonomous diagnostic method of claim 4, wherein: angular acceleration second polarity inversion identifier F of gyroscope dω2 The method comprises the following steps:
8. the gyroscopic output saturation autonomous diagnostic method of claim 4, wherein: angular acceleration third polar flip identifier F of gyroscope dω3 The method comprises the following steps:
9. the gyroscopic output saturation autonomous diagnostic method of claim 4, wherein: angular acceleration fourth polar flip identifier F of gyroscope dω4 The method comprises the following steps:
10. a gyroscopic output saturation autonomous diagnostic system, comprising:
the first module is used for obtaining the maximum theoretical measuring range of the fiber optic gyroscope according to the light source wavelength lambda, the light speed c, the fiber optic ring length L and the fiber optic ring equivalent diameter D of the fiber optic gyroscope;
the second module is used for horizontally placing the optical fiber gyroscope on the single-axis speed turntable according to the maximum theoretical range of the optical fiber gyroscope, loading the optical fiber gyroscope according to the input angular rate until the output of the optical fiber gyroscope has a polarity inversion phenomenon, and recording output data of the optical fiber gyroscope when the output of the optical fiber gyroscope has the polarity inversion phenomenon;
the third module is used for carrying out least square fitting according to the input angular rate of the output of the fiber optic gyroscope when the polarity inversion phenomenon occurs and the output data of the gyroscope, so as to obtain the scale factor and the maximum range of the fiber optic gyroscope;
a fourth module, configured to obtain a scale factor and a maximum range of the N optical fiber gyroscopes, and obtain a limit value of a gyro overrange of each optical fiber gyro according to the maximum range of each optical fiber gyro;
the fifth module is used for obtaining the maximum angle increment limit value of the opening of the cabin of the Mars according to the maximum angle acceleration of the opening of the cabin of the Mars;
and the sixth module is used for substituting the angle increment acquired by the optical fiber gyroscope in the m-th sampling period, the limit value of the gyro overranging of the optical fiber gyroscope, the sampling period of the optical fiber gyroscope, the maximum angle increment limit value of the Mars entering the cabin for opening the umbrella, the angle increment acquired by the optical fiber gyroscope in the m-1 th sampling period and the angle increment acquired by the optical fiber gyroscope in the m-2 th sampling period into a gyro saturation identifier formula, and if the gyro saturation identifier is 0, indicating that the optical fiber gyroscope is saturated in the sampling period.
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