冗余捷联惯性测量系统中的边缘向量检测法

Edge Vector Test Algorithm in Redundant Strapdown Inertial Measurement System

对于由两自由度陀螺构成的冗余捷联惯性测量系统（ＲＳＩＭＳ）来说，边缘向量检测（ＥＶＴ）是一种非常重要和实用的冗余管理算法。本文详细介绍了ＥＶＴ算法的原理，分析了其优缺点，并将其由原来仅能将故障定位到陀螺推广至定位故障到陀螺测量轴。本文还提出了一种综合的故障识别思想，利用它可以同时消除原ＥＶＴ算法的检测奇异性和误诊，并给出了仿真和系统实验结果。

The Edge Vector Test (EVT) is a very important and practical redundant management algorithm for Redundant Strapdown Inertial Measurement Sys-tems (RSIMS) composed of Two Degree of Freedom gyros. In this paper the principle of EVT algorithm is described in detail, and its advantages as well as its disadvantages are discussed. The conventional EVT algorithm is extended to locate failures to gyro axes from just locating them to gyros before. A new concept of failure identification, over-coming the problems of the detection singularity and incorrect identification of the con-ventional EVT algorithm, is put foward. Finally the results of simulation tests and an actual system tests using the developed method are given.