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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。
Taking 6 single degrees of freedom gyroscope structure as an example, the fault detection and isolation of single degree of freedom gyroscope redundant system are discussed. Using the symmetry in the dyad configuration of the six gyroscope or the linear dependence of the four gyroscope measurements, 15 parity equations can be listed. The linear correlation technique of fault detection and recognition by parity equation can not only improve the reliability of the system but also provide repeated measurement data and reduce the influence of single gyroscope error by means of data processing technology. Using least squares for data processing, the best estimate of angular velocity can be obtained.