Inertial measurement system multi-sensor redundancy method

Abstract

The invention provides an inertial measurement system multi-sensor redundancy method. The method comprises the steps that through multiple measurement values output by multiple sensors, an output result of an inertial measurement system and projection values of the output result on all the sensors are calculated; absolute values of differences between output values of all the sensors and the projection values are calculated according to the output values and ordered; iterative judgment is performed according to the maximum absolute value of the differences and a preset precision deviation threshold value until a correct failed sensor is judged, and the output result of the inertial measurement system is a calculation result of the rest sensors. Compared with an inertial measurement system multi-sensor redundancy method achieved through a parity vector algorithm, the problem that the multi-sensor redundant inertial measurement system independently judges the failed sensor without relying on preorder data or subsequent data is solved, not only can the failed sensor be accurately judged, but also the sensor which is occasionally failed or of which the output precision does not meet the design requirement can be judged, and the reliability and the output precision of the inertial measurement system are improved.

Description

technical field [0001] The invention relates to a multi-sensor redundancy method, in particular to a multi-sensor redundancy method for an inertial measurement system, which belongs to the performance management technology of redundant inertial devices and can be used in the occasion of multi-sensor redundancy configuration. Background technique [0002] The inertial measurement system is a range reckoning system based on the quadratic integral of acceleration. It completely relies on mechanical equipment and corresponding algorithms to automatically and independently complete navigation tasks, without any optical or electrical contact with the outside world. Because of its advantages of good concealment and unrestricted working environment by meteorological conditions, it has become a widely used main navigation system in the fields of aerospace, aviation and navigation. Redundancy technology is one of the most commonly used techniques for improving the reliability of inert...

AI Technical Summary

Problems solved by technology

The parity vector method needs to save a relatively complex recognition truth table, and the more sensors, the more complex types of parity detection values ​​are required, the calculation is complicated, and there is a large requirement for computer computing power, which is not conducive to super redundant sensors. Redundant calculations in the state, different structure layouts need to set different calculation methods, and have high requirements for human factors

And the parity vector algorithm cannot distinguish whether the sensor is faulty or invalid

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