面向对象的惯导系统实时故障检测与诊断

Object-oriented Real-time Fault Detection and Diagnosis of an Inertial Navigation System

针对一大型复杂惯性导航系统，构造了用于地面闭环动态测试中的实时故障检测与诊断系统．通过利用惯导系统的原理性、结构性知识和专家经验性知识，采用面向对象的方法有效表示了系统中的深、浅层知识．为了实现系统在闭环运行时的实时故障检测与诊断，笔者讨论了惯导系统特征向量的选取和时变知识的表达方法，并采用了检测与诊断分层的推理控制策略．通过实时检测系统中有限个重要特征向量在系统运行过程中的变化，对故障进行检测，然后根据检测结果决定故障诊断的范围和方向．此系统用于某型惯导系统的三通道动态测试，实际结果表明了所建造诊断系统的有效性．

An object-oriented real-time fault detection and diagnosis(FDD) system is developed for the ground closedcircle dynamic test of a large complex inertial navigation system. The FDD system includes the principal and structural knowledge of the real system and the experienced knowledge of experts. It expresses effectively the easy and difficult knowledge of the system by object-oriented method. To realize real-time fault detection and diagnosis, the selection of characteristic vectors and the expression of time-varing knowledge of the inertial navigation system are discussed. And the hierarchy methodology is used in detection and diagnosis tasks. Faults can be dectected according to the change of important characteristic vectors during the operation of the system, then diagnosis range and directions can be determined from the dectected result. The FDD system is used in the three channels dynamic test of an inertial navigation system, and the test result shows that the FDD system is effective.