基于专用卡尔曼滤波器思想的陀螺故障诊断  

Gyroscope fault diagnosis based on dedicated Kalman filter scheme

作　　者：李利亮 牛睿 邵志杰 沈毅[1] LI Li-liang;NIU Rui;SHAO Zhi-jie;SHEN Yi(School of Astronautics,Harbin Institute of Technology,Harbin Heilongjiang 150001,China;Shanghai Institute of Spaceflight Control Technology,Shanghai 201109,China;Shanghai Key Laboratory of Aerospace Intelligent Control Technology,Shanghai 201109,China)

机构地区：[1]哈尔滨工业大学航天学院,黑龙江哈尔滨150001 [2]上海航天控制技术研究所,上海201109 [3]上海市空间智能控制重点实验室,上海201109

出　　处：《控制理论与应用》2019年第9期1501-1508,共8页Control Theory & Applications

基　　金：国家自然科学基金项目(61773145);上海市青年科技英才扬帆计划项目(17YF1408300)资助~~

摘　　要：本文针对卫星姿态确定系统,提出了一种基于专用卡尔曼滤波器思想的陀螺故障诊断方法.利用卫星姿态运动方程设计了一种加性卡尔曼滤波器,用于生成作为故障征兆信号的残差.结合专用观测器思想和卡尔曼滤波器,提出了利用卡尔曼滤波器组的故障检测与分离律.另外,给出了一种基于3-σ的阈值计算方法,用于设计故障诊断中所用的检测阈值.仿真结果验证了所提出方法的有效性.A gyroscope fault diagnosis method based on dedicated Kalman filter scheme is proposed for satellite attitude determination systems. Based on the attitude kinematics, an additive Kalman filter is designed to generate residuals, which are used as the symptom of fault. By integrating dedicated observer scheme and Kalman filter, a fault detection and isolation method using a bank of Kalman filters is proposed. In addition, a 3-σ based method is presented to generate the threshold used in fault diagnosis. Simulation results are given to verify the effectiveness of the proposed method.

关 键 词：姿态确定系统 陀螺 故障检测与分离 卡尔曼滤波器 

分 类 号：TN7[电子电信—电路与系统]