三捷联惯组冗余系统故障检测阈值设计方法

摘要

The redundant strap-down inertial navigation system with three inertial measurement units was studied. The error model of the gyro and accelerometer was built,and the pulse output of the gyro and accelerometer was obtained by the Monte-Carlo simulation,then the dynamic threshold was designed using the average data window method and statistical method. Finally the fault detection was made based on the dynamic threshold. The results show that the dynamic threshold can reflect the threshold change caused by the movement of the platform;the missing alarm rate and the fail alarm rate are less than 0.05.%以共支架、共基准方式安装的三捷联惯组冗余系统为研究对象，通过建立陀螺和加速度计的误差模型，使用蒙特卡洛打靶的方法进行仿真，得到3套陀螺和加速度计量化处理后脉冲输出值；然后，采用数据窗均值法和统计法相结合的方法设计三捷联惯组动态阈值设计；最后，基于该动态阈值，采用门限表决法对注入故障的惯组系统进行故障检测。仿真结果表明，使用该方法设计的阈值能够有效地反映出由载体运动所引起的阈值变化，漏警率和虚警率均小于5％，有较高的工程应用价值。