单自由度陀螺仪冗余系统的故障检测与识别

Fault Detection and Reorganization for Redundancy System of Single-Freedom Gyroscope

以6个单自由度陀螺仪结构为例,讨论单自由度陀螺仪冗余系统的故障检测与隔离。利用六陀螺仪十二面体配置中的对称性,或按4个陀螺仪测量值之间的线性相关性,可列出15个奇偶方程式。通过奇偶方程进行故障检测与识别的线性相关技术,除能提高系统的可靠性外,还能提供重复的测量数据,并借助于数据处理技术减小单个陀螺仪误差的影响。利用最小二乘进行数据处理,可求解角速率最佳估值。

Take 6 single-freedom gyroscopes as an example, discuss fault detection and reorganization for redundancy system of single-freedom gyroscope. Using the symmetry of device composed by 6-gyroscopes and dodecahedron, or using the linear correlation between measured values of 4 gyroscopes, can list 15 parity equations. Linear fault detection technics through parity equations can improve the system reliability and provide repetitious data while reduce effect of single-freedom gyroscope＇s error. It can get the optimal angle velocity estimation value in virtue of least square method.