冗余捷联惯导软故障检测方法研究

Research on soft fault detection method of redundant SINS

针对冗余捷联惯导系统在软故障检测上仍然存在实时性低、检测性能易受环境影响的问题,提出了一种APV/FASPRT算法。首先根据硬件冗余配置构造奇偶空间,对奇偶残差执行SPRT算法,引入了渐消因子与周期重置提高对当前残差信息的跟踪速度;其次通过APV算法检测故障结束时刻以重置渐消SPRT并提供敏感轴信息;最后针对工程常用的四、六陀螺冗余配置提出了一种基于可容性故障的检测阈值确定方法以增强故障检测的稳定性。仿真结果表明,该算法在软故障检测上分别比GLT、SPRT、APV方法平均检测延迟减少了50.59%、70.21%、2.32%、平均虚警率降低了69.31%、99.33%、64.77%,在增强了软故障检测的实时性的同时减少了无故障时刻的虚警率。

To solve the problems of low real-time performance and easy environmental impact in soft fault detection of redundant strapdown inertial navigation system(SINS),an APV/FASPRT algorithm is proposed.Firstly,the parity space is constructed according to the hardware redundancy configuration,SPRT algorithm is implemented for the parity residual,and the fading factor and periodic reset are introduced to improve the tracking speed of the current residual information.Secondly,APV algorithm is used to detect the fault end time to reset the fading SPRT and provide sensitive axis information.In order to enhance the stability of fault detection,a threshold determination method based on the admissibility fault is proposed for the four and six gyro redundancy configurations commonly used in engineering.The simulation results show that compared with GLT,SPRT and APV methods,the average detection delay of the proposed algorithm is reduced by 50.59%,70.21%and 2.32%,and the average false alarm rate is reduced by 69.31%,99.33%and 64.77%,respectively.The real time of soft fault detection is enhanced and the false alarm rate is reduced in normal running time.