CN117723087A - Test fault analysis method for strapdown inertial navigation system - Google Patents
Test fault analysis method for strapdown inertial navigation system Download PDFInfo
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Abstract
The invention discloses a test fault analysis method of a strapdown inertial navigation system, which comprises static test fault analysis and power supply bias test fault analysis: acquiring the variation of the inner frame and the outer frame in the test process, and judging that the inner frame and the outer frame locking mechanism are unstable in the test process if the variation exceeds a threshold value; if the variation does not exceed the threshold, judging whether the gyro adding table data has abnormal fluctuation in the test process, if so, judging that the gyro adding table has faults in the test process; if not, judging that the shock absorber deforms in the testing process. By adopting the technical scheme, compared with the prior art, the invention can analyze the fault data and accurately position the fault cause, thereby effectively saving the troubleshooting time and improving the problem positioning efficiency.
Description
Technical Field
The invention relates to the field of fault detection, in particular to a test fault analysis method of a strapdown inertial navigation system.
Background
As an inertial measurement device, the strapdown inertial navigation system needs to carry out a large number of tests in the processes of debugging and acceptance. During the test, various failures are often accompanied. After the fault occurs, a designer is required to troubleshoot the fault. However, manual investigation is long in time consumption and low in positioning efficiency, so that development of a test fault analysis method of the strapdown inertial navigation system is urgent.
Disclosure of Invention
The method for analyzing the test faults of the strapdown inertial navigation system solves the problems that in the prior art, manual investigation of the test faults of the strapdown inertial navigation system is long in time consumption and low in positioning efficiency.
In order to achieve the above purpose, the following technical scheme is adopted in the application.
A test fault analysis method of a strapdown inertial navigation system comprises static test fault analysis and power supply bias test fault analysis: acquiring the variation of the inner frame and the outer frame in the test process, and judging that the inner frame and the outer frame locking mechanism are unstable in the test process if the variation exceeds a threshold value; if the variation does not exceed the threshold, judging whether the gyro adding table data has abnormal fluctuation in the test process, if so, judging that the gyro adding table has faults in the test process; if not, judging that the shock absorber deforms in the testing process.
In some embodiments, the method further comprises self-aligned test failure analysis: acquiring the variation of the inner frame and the outer frame in the test process, and judging that the inner frame and the outer frame locking mechanism are unstable in the test process if the variation exceeds a threshold value; if the variation does not exceed the threshold, judging whether abnormal fluctuation exists in the north gyro data in the test process, if so, judging that the gyro or the gyro control board fails in the test process; IF the north-oriented gyro data has no abnormal fluctuation in the test process and the meter adding data has abnormal fluctuation in the test process, judging that the meter adding or the meter adding data acquisition IF board fails in the test process.
In some embodiments, the method further comprises self-calibrating test fault analysis: checking a self-calibration initial position, and if the calibrated initial position is different from a specified initial position, judging that the position of the inertial measurement unit is wrong before self-calibration; analyzing the variable quantity of the inner frame and the outer frame fed back from the rest position in the test process, and if the variable quantity exceeds a threshold value (to be determined according to actual use indexes), judging that the inner frame and the outer frame locking mechanism are unstable in the self-calibration test; and checking the gyro meter adding data, and if the gyro meter adding data has abnormal fluctuation in the test process, judging that the gyro meter adding data has faults in the test process.
In some embodiments, further comprising a precision vibration test fault analysis: acquiring static data before vibration, and judging that the accuracy of the gyroscope and the meter is problematic if the difference value between the static data and the actual value exceeds a threshold value; if the difference value between the static data and the actual value does not exceed the threshold value, the variation of the inner and outer frames in the test process is obtained, and if the variation exceeds the threshold value, the inner and outer frame locking mechanism is judged to be unstable when vibrating.
In some embodiments, the static data before vibration is a ground speed synthesized by three gyroscopes and a gravitational acceleration synthesized by three accelerometer.
The application has at least the following technical effects or advantages: the invention can analyze the fault data and accurately locate the fault cause, effectively saves the troubleshooting time and improves the problem locating efficiency.
Drawings
Fig. 1 is a flow chart of a test fault analysis method of a strapdown inertial navigation system according to an embodiment of the present application.
Detailed Description
In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.
Referring to fig. 1, a test fault analysis method for a strapdown inertial navigation system includes inertial navigation static test fault analysis, power supply bias test fault analysis, self-alignment test fault analysis, self-calibration test fault analysis and precision vibration test fault analysis. Wherein:
static test:
the purpose of the static test is to detect the static accuracy of the strapdown inertial measurement unit in the absence of linear and angular motion, which may lead to out-of-tolerance measurement results if unexpected motion of the inertial measurement unit occurs during the test. In the test process, devices which possibly cause unexpected movements are respectively an inner frame locking mechanism, an outer frame locking mechanism, a gyro and meter data runout and shock absorber deformation.
The inner and outer frame locking mechanism is not stable enough in static test, and can lead the rotating mechanism to slowly rotate along with time under the interference of gravity; the data of the gyroscope and the accelerometer per se are large in jitter, so that the data of the gyroscope and the accelerometer which are originally static can be changed into the data in a slow motion state; the shock absorber deforms greatly, and small linear movement and angular movement of the inertial unit can occur in space.
Thus, static test fault analysis will examine the test data for the above three fault causes and give possible fault localization results, as follows:
1. firstly, analyzing according to the variable quantity of the inner frame and the outer frame fed back in the test process, and if the variable quantity exceeds a threshold value (which is required to be determined according to actual use indexes), considering that the locking mechanism of the inner frame and the outer frame is not stable enough in the test, so that the static test result is out of tolerance.
2. If the change quantity of the inner frame and the outer frame meets the index requirement, checking the gyro meter data, and if the gyro meter data has abnormal fluctuation (determined according to the accuracy of the gyro meter), considering that the gyro meter itself fails in the testing process, thereby leading to the ultra-poor static test result.
3. If the locking mechanism and the gyro meter are normal, the damper is slowly deformed in the test process, so that the inertial measurement unit generates tiny linear motion and angular motion in the space, and the static test result is out of tolerance.
And (3) power supply bias test:
the purpose of the power supply bias test is to detect whether the strapdown inertial measurement unit can influence the measurement accuracy when the input voltage fluctuates, and if the data output by the inertial measurement unit before and after the voltage changes are abnormal, the measurement result is possibly out of tolerance. In the test process, the device possibly causing abnormal output of the inertial measurement unit is the same as the static test, so that the analysis steps and the fault reasons are consistent with the static test.
Self-alignment test:
the aim of the self-alignment test is to detect the alignment precision of the strapdown inertial measurement unit, and in the test process, the influence of the north-pointing gyroscope output and the north-pointing meter adding output on the north-pointing result is the greatest. In north seeking, two factors may affect the output of the gyroscope and the accelerometer, namely the electric control stability of the inner frame and the outer frame and the stability of the gyroscope accelerometer measurement channel.
The inner and outer frame electric control is not stable enough and the stability of the gyro and the meter adding measuring channel is poor during the self-alignment test, so that the rotating mechanism generates larger shake at the aligned static position, and the gyro meter adding data in the alignment process is interfered, thereby introducing errors in the self-alignment calculation process and reducing the alignment precision.
Therefore, the self-aligned test fault analysis checks the test data for the two fault causes and gives possible fault positioning results, and the checking thought is as follows:
1. firstly, analyzing according to the change quantity of the inner frame and the outer frame which are fed back in alignment with the static position in the test process, and if the change quantity exceeds a threshold value (which is required to be determined according to actual use indexes), considering that the inner frame and the outer frame locking mechanism are not stable enough in the test, so that the static test result is out of tolerance.
2. If the variation of the inner frame and the outer frame meets the index requirement, the northern gyro data is checked, and if the gyro data has abnormal fluctuation (determined according to the accuracy of the gyro itself) in the testing process, the gyro itself or a gyro control board is considered to be faulty in the testing process, so that the static testing result is out of tolerance.
3. After the gyroscope is inspected, the eastern meter adding data is inspected, IF the meter adding data has abnormal fluctuation (determined according to the accuracy of the gyroscope and the meter itself) in the test process, the meter adding data or the meter adding data acquisition IF board is considered to be faulty in the test process, so that the static test result is out of tolerance.
Self-calibration test:
the self-calibration test aims at exciting the gyro and the meter adding error through a specific rotation sequence and calibrating the error. If the placing position of the inertial measurement unit in the test process is not consistent with the required initial position, the inertial measurement unit cannot rotate to the rotation position specified by the calibration flow, and the calibration fails; the inner and outer frame electric control is not stable enough in the self-calibration test, and can lead the gyro meter to generate larger shake at the calibrated static position to interfere the gyro meter data in the calibration process, thereby introducing errors in the calculation process of the calibration result and reducing the calibration precision; the data of the gyroscope and the addition meter are large in jitter, and errors are introduced in the calculation process of the calibration result, so that the calibration precision is reduced.
Therefore, the self-calibration test fault analysis is to check the test data aiming at the three fault causes and give possible fault positioning results, and the checking thought is as follows:
1. first, checking the self-calibration head position, and if the calibrated head position is different from the specified head position, considering that the inertial measurement unit is placed in error before self-calibration.
2. And analyzing the variable quantity of the inner frame and the outer frame fed back from the rest position in the test process, and if the variable quantity exceeds a threshold value (which is required to be determined according to the actual use index), considering that the inner frame and the outer frame locking mechanism are not stable enough in the self-calibration test, so that the self-calibration test result is out of tolerance.
3. And then checking the gyro adding table data, and if the gyro adding table data has abnormal fluctuation (determined according to the accuracy of the gyro adding table itself) in the test process, considering that the gyro adding table itself fails in the test process, thereby causing the self-calibration test result to be out of tolerance.
And (3) precision vibration test:
the purpose of the precision vibration test is to detect the navigation precision of the strapdown inertial measurement unit in a vibration environment. In the test process, the accuracy of the gyroscope and the meter adding can directly influence the navigation result; the change of the inner frame and the outer frame in vibration influences the dynamic characteristics in inertial navigation vibration, thereby influencing the navigation result.
Therefore, the precision vibration test fault analysis is to check the test data aiming at the two fault causes and give possible fault positioning results, and the checking thought is as follows:
1. firstly, static data before vibration is taken, the synthesized ground speed of three gyroscopes and the synthesized gravity acceleration of three accelerometer are calculated, if the difference value between the synthesized ground speed and the gravity acceleration and the actual ground speed and the actual gravity acceleration exceeds a threshold value (to be determined according to actual use indexes), the accuracy of the gyroscopes and the accelerometer is considered to be problematic, and therefore the precision vibration test result is out of tolerance.
2. If the synthesized ground speed and the gravity acceleration meet the index requirements, the analysis is carried out according to the change quantity of the inner frame and the outer frame fed back in the test process, and if the change quantity exceeds a threshold value (to be determined according to the actual use index), the inner frame and the outer frame locking mechanism are considered to be unstable when vibrating, so that the precision vibration test result is out of tolerance.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. The test fault analysis method of the strapdown inertial navigation system is characterized by comprising static test fault analysis and power supply bias test fault analysis: acquiring the variation of the inner frame and the outer frame in the test process, and judging that the inner frame and the outer frame locking mechanism are unstable in the test process if the variation exceeds a threshold value; if the variation does not exceed the threshold, judging whether the gyro adding table data has abnormal fluctuation in the test process, if so, judging that the gyro adding table has faults in the test process; if not, judging that the shock absorber deforms in the testing process.
2. The strapdown inertial navigation system test fault analysis method of claim 1, further comprising self-aligned test fault analysis: acquiring the variation of the inner frame and the outer frame in the test process, and judging that the inner frame and the outer frame locking mechanism are unstable in the test process if the variation exceeds a threshold value; if the variation does not exceed the threshold, judging whether abnormal fluctuation exists in the north gyro data in the test process, if so, judging that the gyro or the gyro control board fails in the test process; IF the north-oriented gyro data has no abnormal fluctuation in the test process and the meter adding data has abnormal fluctuation in the test process, judging that the meter adding or the meter adding data acquisition IF board fails in the test process.
3. The strapdown inertial navigation system test fault analysis method of claim 1 or 2, further comprising self-calibrating test fault analysis: checking a self-calibration initial position, and if the calibrated initial position is different from a specified initial position, judging that the position of the inertial measurement unit is wrong before self-calibration; analyzing the variable quantity of the inner frame and the outer frame fed back from the rest position in the test process, and if the variable quantity exceeds a threshold value (to be determined according to actual use indexes), judging that the inner frame and the outer frame locking mechanism are unstable in the self-calibration test; and checking the gyro meter adding data, and if the gyro meter adding data has abnormal fluctuation in the test process, judging that the gyro meter adding data has faults in the test process.
4. The strapdown inertial navigation system test fault analysis method according to claim 1 or 2, further comprising a precision vibration test fault analysis: acquiring static data before vibration, and judging that the accuracy of the gyroscope and the meter is problematic if the difference value between the static data and the actual value exceeds a threshold value; if the difference value between the static data and the actual value does not exceed the threshold value, the variation of the inner and outer frames in the test process is obtained, and if the variation exceeds the threshold value, the inner and outer frame locking mechanism is judged to be unstable when vibrating.
5. The strapdown inertial navigation system test fault analysis method of claim 4, wherein: static data before vibration is ground speed synthesized by three gyroscopes and gravitational acceleration synthesized by three accelerometer.
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