一种陀螺与罗盘组合导航系统的故障检测方法  

Fault detection method for the gyroscope and compass integrated navigation system

作　　者：冯毅博[1] 李希胜[1] 张晓娟[1] 

机构地区：[1]北京科技大学自动化学院,北京100083

出　　处：《仪器仪表学报》2015年第10期2381-2388,共8页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(61273082)项目资助

摘　　要：为了提高MEMS陀螺和磁罗盘组合导航系统的可靠性,减少各种干扰和故障对导航精度的影响,提出了一种及时、精确、有效的故障检测方法。该方法首先对正常工作时的MEMS陀螺和磁罗盘信号中的各种噪声进行分析;然后针对组合系统中的常见故障,从陀螺和磁罗盘航向信息中提取出短时间内两者航向变化量差值的均值、均值的一阶差分量及二阶差分量作为故障检测量,用以区分识别不同的故障源;最后使用预警模式,来减小故障检测过程中的延迟影响,提高故障检测的及时性。实验结果表明,此方法可以及时、准确地区分识别出组合系统中零偏、速率斜坡故障以及两种磁干扰,有效地降低了干扰和故障的引入误差。To improve the reliability of MEMS gyroscope and compass integrated navigation system,and reduce the influence of interference and faults on the system precision,a timely,accurate and effective fault detection method was proposed. The noise of the MEMS gyroscope and compass was analyzed. Based on the features of various faults,the mean difference between the heading angle of compass and MEMS gyroscope,first-order difference of mean and second-order difference of mean were calculated as fault detection values,which were used to locate the fault source. A warning stage is used to reduce the influence of the fault detection delay,and improve the timeliness. An experiment is implemented to test the performance of the fault detection method. The experimental result demonstrates that this method can detect and identify the faults of bias drift,rate ramp and magnetic interference correctly and timely,and reduce the influence of interference and faults error.

关 键 词：组合导航系统 故障检测 零偏误差 速率斜坡 磁场干扰 

分 类 号：V241.625[航空宇航科学与技术—飞行器设计] TH89[机械工程—仪器科学与技术]