MEMS陀螺仪冗余配置故障检测方法

摘要

针对姿态测量系统的可靠性问题,提出了一种冗余配置方式的微机电系统(micro-electro-mechanical system,MEMS)陀螺仪故障检测方法.首先,基于三轴MEMS陀螺仪研究了冗余配置的形式,给出了相应的故障评价函数,并给出了最优配置角度的计算方法;其次,根据冗余配置建立陀螺仪故障检测数学模型,设计了MEMS陀螺仪硬故障检测方法,并进一步证明了陀螺仪的软故障和陀螺仪输出噪声的相关性,通过最大似然估计给出了软故障检测判决函数;最后,利用自主构建的故障检测硬件平台进行了实验验证,成功实现了对发生硬故障及软故障陀螺仪敏感轴的检测.该方法将MEMS陀螺仪的冗余配置扩展到了敏感轴水平,提高了MEMS陀螺仪的数据利用率,增加了系统可靠性.%To solve the reliability problem of attitude measuring system,a fault detection method of microelectro-mechanical system (MEMS) gyroscope with redundancy configuration is proposed.Firstly,the form of redundancy configuration is studied based on the three-axis MEMS gyroscope,and the corresponding fault evaluation function is given.Secondly,the gyro fault detection mathematical model is built according to the redundancy configuration.The gyroscope hard fault detection method is designed,and further proved the correlation of soft fault and gyro output noise,the soft fault detection decision function is given by maximum likelihood estimation.Finally,the self-constructed fault detection hardware platform is used to verify the proposed method,and the detection of the fault gyroscope sensitive axis is realized successfully.The method extends the redundant configuration of the MEMS gyroscope to the sensitive axis level,improves the data utilization rate of the MEMS gyroscope and increases the system reliability.