最优奇偶向量法在冗余捷联惯组故障检测中的应用研究

Optimal Parity Vector Technology Applied to Fault Detection of Redundant Inertial Measurement Unit

摘要验证了最优奇偶向量法（OPT）在3套正交安装的捷联惯组下故障检测的可行性及其检测效果。针对2种不同的故障模型（硬故障和缓变故障），分别进行了仿真试验，证明最优奇偶向量法对硬故障检测的灵敏度很高，但对于缓变故障，检测存在一定的延迟。与阈值法相比，最优奇偶向量法的检测效果总体较优，在中等幅值故障（2～4（°）／h）的检测上，漏警率至少降低1个数量级。

The feasibility and the fault detection effect are verified by optimal parity vector technology （OPT） in three orthogonally IMU. According to different fault models, the simulation tests are implemen- ted. It is proven that hard fault can be detected sensitively by the optimal parity vector technology. But for soft hard, there is certain delay remaining. The simulation results show that OPT has better results than threshold comparison method. The OPT method can decreases probability of miss alarm （PMA） by one or- der of magnitude during detecting middle magnitude fault of 2 - 4 （°）/h.