CN111060087B - Redundancy-configured hemispherical resonant gyroscope inertia measurement assembly and measurement method - Google Patents
Redundancy-configured hemispherical resonant gyroscope inertia measurement assembly and measurement method Download PDFInfo
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Abstract
The invention relates to a redundancy-configured hemispherical resonant gyroscope inertia measurement assembly and a measurement method, wherein the inertia measurement assembly comprises a body and a sensor unit arranged on the body, and the sensor unit comprises a hemispherical resonant gyroscope and an accelerometer; the body includes the top installation face equal with hemisphere resonance top quantity, and each hemisphere resonance top sets up on the top installation face that corresponds. Aiming at the problems of overlarge volume and weight and low fault diagnosis and isolation rate of the traditional optical gyroscope inertia measurement assembly with double redundancy configuration, the hemispherical resonance gyroscope redundancy configuration is adopted to design the inertia measurement assembly, and the excellent characteristics of small volume, light weight and the like of the hemispherical resonance gyroscope are combined, so that the volume and the weight of the inertia measurement assembly are smaller under the same precision condition with that of a mechanical gyroscope and the optical gyroscope, the fault diagnosis and the isolation are more excellent, and the optimization and the improvement of the precision performance of the inertia measurement assembly are realized.
Description
Technical Field
The invention relates to the technical field of inertial navigation, in particular to a redundancy-configured hemispherical resonant gyroscope inertial measurement component.
Background
The redundancy configuration of the inertial navigation system is an effective means for improving the reliability and fault-tolerant capability of the system, and particularly in the field of high-reliability application in time of flight such as ocean-going navigation and satellite attitude measurement, the adoption of the redundancy design to greatly improve the reliability and service life of the inertial navigation system becomes a common consensus at home and abroad.
The traditional inertial navigation system redundancy configuration mode is mainly characterized in that two or more sets of inertial navigation subsystems are configured on one platform, and the inertial navigation subsystems are not interconnected.
The redundancy configuration based on the inertial sensor is a relatively economic method, generally, an inertial measurement component comprises three gyroscopes and three accelerometers, and the redundancy configuration mode based on the inertial sensor needs to add one or more inertial devices during the design of the inertial measurement component, and realizes the redundancy design through the combination and multiplexing of the inertial devices.
Disclosure of Invention
The invention provides a redundancy-configured hemispherical resonator gyro inertia measurement assembly and a measurement method aiming at the technical problems in the prior art, and solves the problem of contradiction between the configuration quantity of the redundancy-configured sensors of the inertia measurement assembly and the volume and weight of the assembly.
The technical scheme for solving the technical problems is as follows: a redundantly configured hemispherical resonator gyroscope inertial measurement assembly comprising: the sensor comprises a body 1 and a sensor unit 2 arranged on the body 1, wherein the sensor unit 2 comprises a hemispherical resonant gyro 21 and an accelerometer 22;
the body 1 includes gyro mounting surfaces equal in number to the hemispherical resonator gyros 21, and each hemispherical resonator gyro 21 is provided on the corresponding gyro mounting surface.
A redundantly configured hemispherical resonator gyroscope inertia measurement method is based on the inertia measurement assembly;
the angular velocity output data measured by the inertia measurement assembly is as follows: omegan＝Hn*3·ωb(ii) a The output data of the acceleration is: f. ofn＝Hn*3·fb；
In the formula, ωb、fbRespectively, the three-axis angular velocity and acceleration vector H in the body coordinate systemn*3To measure the matrix, ωn、fnAnd measuring output values of the n hemispherical resonant gyros and the accelerometer respectively.
The invention has the beneficial effects that: aiming at the problems of overlarge volume and weight and low fault diagnosis and isolation rate of the traditional optical gyroscope inertia measurement assembly with double redundancy configuration, the hemispherical resonance gyroscope redundancy configuration is adopted to design the inertia measurement assembly, and the excellent characteristics of small volume, light weight and the like of the hemispherical resonance gyroscope are combined, so that the volume and the weight of the inertia measurement assembly are smaller under the same precision condition with that of a mechanical gyroscope and the optical gyroscope, the fault diagnosis and the isolation are more excellent, and the optimization and the improvement of the precision performance of the inertia measurement assembly are realized.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the number of the hemispherical resonator gyro 21 and the number of the accelerometers 22 are both 6.
Further, the body 1 comprises a left body 11 and a right body 12;
the left body 11 and the right body 12 respectively comprise three gyroscope mounting surfaces and three accelerometers 22; the left body 11 and the right body 12 after the hemispherical resonator gyroscope 21 and the accelerometer 22 are installed are fixedly connected into a whole;
the gyro installation face is the isosceles trapezoid that the big or small shape is equal, left side body 11 with right side body 12 fixed connection back, each the side of gyro installation face interconnect in proper order, each the accelerometer installation face is enclosed into at the bottom of the top of gyro installation face, six accelerometer 22 evenly distributed is in on the accelerometer installation face.
Further, the projection of the sensitive axis direction of each sensor unit 2 on the XY plane of the body coordinate system is equally divided into 60 degrees, and the included angle between the sensitive axis direction of the sensor unit 2 and the Z axis of the body coordinate system is 54.74 degrees.
Further, the body 1 comprises two convex bodies with the bottom surfaces being the same surface, and the convex bodies are provided with three gyroscope installation surfaces and three accelerometer installation surfaces; each gyro mounting surface and each accelerometer mounting surface are equal in size and shape;
the side edge of any one gyro mounting surface on one convex body is connected with the side edges of the two accelerometer mounting surfaces; the sides of the gyro mounting surface and the accelerometer mounting surface are equal, and the six gyro mounting surfaces and the six accelerometer mounting surfaces form a whole;
any one of the gyro mounting surface or the accelerometer mounting surface on one of the convex bodies is opposite to the corresponding gyro mounting surface or the corresponding accelerometer mounting surface on the other convex body.
Further, the direction of the sensitive axis of each sensor unit 2 is orthogonal to the coordinate axis of the body coordinate system.
Further, the inertia measurement assembly further comprises an HRG circuit unit 3, an Acce circuit unit 4 and a data signal processing unit 5;
the HRG circuit unit 3 is used for receiving and processing the measurement data of the hemispherical resonator gyroscope 21;
the Acce circuit unit 4 is used for receiving and processing the measurement data of the accelerometer 22;
the data signal processing unit 5 is used for outputting inertial measurement data according to the measurement data of the hemispherical resonator gyro 21 and the accelerometer 22.
Further, the number of the hemispherical resonator gyroscope 21, the number of the accelerometer 22, the number of the HRG circuit unit 3, and the number of the access circuit unit 4 are all six;
the data signal processing unit 5 is further configured to perform fault detection on each of the hemispherical resonator gyro 21 and the accelerometer 22 according to the measurement data of the hemispherical resonator gyro 21 and the accelerometer 22.
Further, the number of hemispherical resonator gyroscopes 21 and the number of accelerometers 22 are six, and the measuring method further includes:
simultaneously processing and obtaining 6 groups of default hemispherical resonance gyro and accelerometer data and 1 group of normal hemispherical resonance gyro and accelerometer data, and outputting 13 groups of angular velocity and acceleration measurement data;
and judging and outputting the fault states of the hemispherical resonant gyros and the accelerometers by adopting a fault detection algorithm.
The beneficial effect of adopting the further scheme is that: the inertia measurement assembly realizes sensor-level redundancy configuration from the aspects of sensor integration, circuit unit design and signal processing redundancy, has the capabilities of sensor-level fault diagnosis, isolation and dynamic reconfiguration, and obviously improves the reliability of the system; through optimal configuration, the combination multiplexing of all sensors is realized, and the measurement precision of the inertia measurement assembly is effectively improved.
Drawings
Fig. 1 is a schematic structural diagram of a sensor unit according to an embodiment of the present invention after being disassembled;
FIG. 2 is a combined structural diagram of an embodiment of a sensor unit provided in the present invention;
FIG. 3 is a schematic cross-sectional diagram of a first embodiment of a sensor unit according to the present invention;
fig. 4 is a schematic structural diagram of a second first viewing angle of an embodiment of a sensor unit according to the present invention;
FIG. 5 is a schematic structural diagram of a second perspective view of a sensor unit according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a second perspective view of a sensor unit according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a redundantly configured hemispherical resonator gyroscope inertial measurement unit according to the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. the device comprises a body, 2, a sensor unit, 21, a hemispherical resonant gyroscope, 22, an accelerometer, 3, an HRG circuit unit, 4, an Acce circuit unit, 5 and a data signal processing unit.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
The invention provides a redundancy-configured hemispherical resonant gyroscope inertia measurement assembly, which comprises: the sensor unit 2 comprises a body 1 and a sensor unit 2 arranged on the body 1, wherein the sensor unit 2 comprises a hemispherical resonator gyro 21 and an accelerometer 22.
The body 1 includes gyro mounting surfaces equal in number to the hemispherical resonator gyros 21, and each hemispherical resonator gyro 21 is disposed on the corresponding gyro mounting surface.
Aiming at the problems of large volume, overlarge weight and low fault diagnosis and isolation rate of the traditional optical gyroscope inertia measurement assembly with double redundancy configuration, the inertia measurement assembly is designed by adopting the redundancy configuration of the hemispherical resonant gyroscope, the diameter of the hemispherical resonant gyroscope is about 5-8 cm, the weight of the hemispherical resonant gyroscope is less than 300g, compared with the traditional optical gyroscope with the same precision grade, the volume is reduced by about 10-20 times, the weight is reduced by 5-8 times, and various excellent characteristics of small volume, light weight and the like of the hemispherical resonant gyroscope are combined, so that the volume, the weight and the fault diagnosis and isolation of the inertia measurement assembly are better under the condition of the same precision as that of a mechanical gyroscope and the optical gyroscope, and the optimization and the improvement of the precision performance of the inertia measurement assembly are realized.
Example 1
In the first embodiment of the sensor unit provided by the present invention, the sensor unit is arranged in an oblique manner, and specifically, as shown in fig. 3, a schematic diagram of an oblique principle of the first embodiment of the sensor unit provided by the present invention is shown.
Specifically, as can be seen from fig. 1, 2 and 3, the sensor unit 2 is disposed on the body 1, the body 1 adopts a split design, and includes a left body 11 and a right body 12, the sensor unit 2 includes a hemispherical resonator gyro 21 and an accelerometer 22, and the number of the hemispherical resonator gyro 21 and the accelerometer 22 is 6. The body 1 includes gyro mounting surfaces equal in number to the hemispherical resonator gyros 21, and each hemispherical resonator gyro 21 is disposed on the corresponding gyro mounting surface.
The left body 11 and the right body 12 respectively comprise three gyro mounting surfaces and three accelerometers 22; the left body 11 and the right body 12 after the hemispherical resonator gyro 21 and the accelerometer 22 are installed are fixedly connected into a whole. Specifically, the left body 11 and the right body 12 may be connected by a fastener.
The gyro mounting surfaces are isosceles trapezoids with the same size and shape, after the left body 11 and the right body 12 are fixedly connected, the side edges of the gyro mounting surfaces are sequentially connected with each other, and the upper bottom of each gyro mounting surface is surrounded to form an accelerometer mounting surface.
The six accelerometers 22 are evenly distributed on the accelerometer mounting surface.
The sensor units 2 are arranged in a uniform conical shape in space by taking the Z axis of the body coordinate system as a central axis, and the projection of the sensitive axis direction of each sensor unit 2 on the XY plane of the body coordinate system is an angle of equal division of 60 degrees.
Preferably, when the angle between the direction of the sensitive axis of the sensor unit 2 and the Z axis of the body coordinate system is 54.74 °, the optimal configuration can be realized, that is, the accuracy and performance of the inertial measurement component can be improved to the maximum.
Example 2
As can be seen from fig. 4, 5 and 6, in the second embodiment of the sensor unit according to the present invention, the sensor unit 2 is disposed on the body 1, the sensor unit 2 includes the hemispherical resonator gyro 21 and the accelerometer 22, and the number of the hemispherical resonator gyro 21 and the number of the accelerometer 22 are 6. The body 1 includes gyro mounting surfaces equal in number to the hemispherical resonator gyros 21, and each hemispherical resonator gyro 21 is disposed on the corresponding gyro mounting surface.
The sensor unit 2 is arranged up and down in a uniform hexahedron in space, and specifically, the body 1 comprises two convex bodies with the bottom surfaces being the same surface, and three gyro installation surfaces and three accelerometer installation surfaces are arranged on the convex bodies; each gyro mounting surface and each accelerometer mounting surface are equal in size and shape.
The side edge of any gyro mounting surface on one convex body is connected with the side edges of the two accelerometer mounting surfaces; the sides of each gyro mounting surface and the sides of the accelerometer mounting surfaces are equal, and the six gyro mounting surfaces and the accelerometer mounting surfaces enclose a whole.
Any one of the gyro mounting surface or the accelerometer mounting surface on one convex body is arranged opposite to the corresponding gyro mounting surface or the corresponding accelerometer mounting surface on the other convex body. That is, the 6 hemispherical resonator gyroscopes 21 include three groups, and the axes of the two hemispherical resonator gyroscopes 21 of any one group coincide with each other.
The sensitive axis direction of each sensor unit 2 is orthogonal to the coordinate axis of the body coordinate system, and the Z axis of the body coordinate system is uniformly distributed as the central axis.
Example 3
As can be seen from fig. 1 to 7, the inertial measurement unit includes a body 1, a sensor unit 2 disposed on the body 1, an HRG (Hemispherical Resonator Gyro) circuit unit 3, an Acce (accelerometer) circuit unit 4, and a data signal processing unit 5. The sensor unit 2 includes a hemispherical resonator gyro 21 and an accelerometer 22. The body 1 includes gyro mounting surfaces equal in number to the hemispherical resonator gyros 21, and each hemispherical resonator gyro 21 is disposed on the corresponding gyro mounting surface.
The HRG circuit unit 3 is used to receive and process measurement data of the hemispherical resonator gyro 21.
The Acce circuit unit 4 is used for receiving and processing the measurement data of the accelerometer 22.
The data signal processing unit 5 is used for outputting inertial measurement data according to the measurement data of the hemispherical resonator gyro 21 and the accelerometer 22.
Furthermore, when the inertial measurement unit sensor is optimally configured, the number of the hemispherical resonant gyros 21 and the number of the accelerometers 22 are six, and the measurement precision can be improved through the optimal arrangement
And (4) doubling.
Preferably, the number of the HRG circuit units 3 and the acc circuit units 4 is six, so that the sensor circuit channels are independent.
The inertia measurement assembly further comprises two power supply units, the number of the power supply units and the number of the data signal processing units 5 are two, redundant design of power supply and signal processing is carried out, and mutual backup is carried out.
The data signal processing unit 5 is further configured to perform fault detection on each hemispherical resonant gyroscope 21 and each hemispherical resonant accelerometer 22 according to the measurement data of the hemispherical resonant gyroscope 21 and each hemispherical resonant accelerometer 22, so that fault detection on 3 hemispherical resonant gyroscopes 21 (or accelerometers 22) and fault isolation efficiency on 2 hemispherical resonant gyroscopes 21 (or accelerometers 22) can be achieved, that is, the inertial measurement component can still work continuously and reliably under the condition that any 2 hemispherical resonant gyroscopes 21 (or accelerometers 22) have faults.
Example 4
The hemispherical resonator gyro 21 or the accelerometer 22 of the sensor unit 2 has different configuration modes, and the improvement on the reliability and the precision of the inertial measurement unit is different, and under the condition of redundant configuration, the measurement output of each hemispherical resonator gyro 21 or accelerometer 22 is a linear combination of 2 or 3 coordinate axis motion components under a body coordinate system.
The output data of the angular velocity of the hemispherical resonator gyro 21 or the accelerometer 22 are: omegan＝Hn*3·ωb(ii) a The output data of the acceleration is: f. ofn＝Hn*3·fb。
In the formula, ωb、fbRespectively, the three-axis angular velocity and acceleration vector H in the body coordinate systemn*3To measure the matrix, ωn、fnAnd measuring output values of the n hemispherical resonant gyros and the accelerometer respectively.
Taking an embodiment of a set of specific measurement data provided by the present invention as an example, the gyro measurement data processed by the data signal processing unit 5 can be represented by the following measurement matrix:
wherein, ω isx、ωyAnd ωzMeasured output data in a body coordinate system with X, Y and Z axes, respectively, thetai，i∈[1，6]Representing the ith gyro measurement angular velocity vector.
The least squares estimate of the redundantly configured inertial measurement component measurements can be expressed as:
the covariance of the measurement error of the inertial measurement unit is:
ρ2(δωn) The variance is measured for a single gyro.
It can be shown that the covariance of the measurement error is the minimum:
when n is 6, the measurement accuracy of the inertia measurement assembly can be improved to the maximum
The above-mentioned performance improvement maximization condition needs to be satisfied when designing the optimal configuration of the inertia measurement module, i.e. the redundancy configuration.
The number of the hemispherical resonator gyros 21 and the number of the accelerometers 22 are six, and the measuring method further comprises the following steps:
the inertia measurement assembly can respectively process and obtain 7 groups of hemispherical resonant gyros and acceleration simultaneouslyAnd the data measured by the meter comprises 6 groups of default hemispherical resonant gyroscope and accelerometer data and 1 group of normal hemispherical resonant gyroscope and accelerometer data, and 13 groups of angular velocity and acceleration measurement data are simultaneously and independently subjected to navigation calculation. When the inertia measurement assembly works normally, the angular velocity measurement vectors of 1 group of body coordinate systems can be obtained by 6 hemispherical resonant gyros through linear projection of a measurement matrix H; in order to realize fault isolation and prevent abnormal interruption of work in case of fault, any 1 gyro signal needs to be defaulted during signal processing to obtain
Angular velocity measurement vectors in the set of body coordinate systems; the accelerometer signal processing principle is the same.
As can be seen from the above formula for calculating the output data, the above formula measures the ith row and the corresponding theta of the matrix arbitrarilyiAnd 6 other groups of measurement data with 1 gyro as a default can be obtained. The data signal processing unit has the same principle for processing the data of the accelerometer. Preferably, a fault detection algorithm can be adopted to judge and output fault states of the hemispherical resonant gyros and the accelerometers.
Specifically, the fault detection algorithm may solve by establishing a parity equation, eliminate the measurands in the measurement equation of the sensor unit, and determine whether a fault exists by using a residual error of the parity equation: if the sensor units are normal, inequalities of all parity equations are established, if a sensor unit fails, corresponding inequalities of the parity equations are not established, and the parity equations are used for converting the fault detection problem into a logic judgment problem of a linear correlation equation.
The signal processing flow is realized, the inertia measurement assembly can realize diagnosis and isolation of 1 or 2 hemispherical resonant gyros 21 and accelerometers 22 after faults, uninterrupted motion measurement is realized based on a corresponding fault detection and processing mechanism, and high-reliability work is realized.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. A redundantly configured hemispherical resonator gyroscope inertial measurement unit, characterized in that the inertial measurement unit comprises a body (1) and a sensor unit (2) arranged on the body (1), the sensor unit (2) comprising a hemispherical resonator gyroscope (21) and an accelerometer (22);
the body (1) comprises gyro mounting surfaces with the same number as the hemispherical resonant gyros (21), and each hemispherical resonant gyro (21) is arranged on the corresponding gyro mounting surface;
the number of the hemispherical resonant gyros (21) and the number of the accelerometers (22) are both 6;
the body (1) comprises two convex bodies with the bottom surfaces being the same surface, and three gyroscope installation surfaces and three accelerometer installation surfaces are arranged on the convex bodies; each gyro mounting surface and each accelerometer mounting surface are equal in size and shape;
the side edge of any one gyro mounting surface on one convex body is connected with the side edges of the two accelerometer mounting surfaces; the sides of the gyro mounting surface and the accelerometer mounting surface are equal, and the six gyro mounting surfaces and the six accelerometer mounting surfaces form a whole;
any one of the gyro mounting surface or the accelerometer mounting surface on one of the convex bodies is opposite to the corresponding gyro mounting surface or the corresponding accelerometer mounting surface on the other convex body.
2. Inertial measurement unit according to claim 1, characterized in that the sensitive axis direction of each sensor unit (2) is orthogonal to the body coordinate system coordinate axis.
3. The inertial measurement unit according to claim 1, characterized in that it further comprises an HRG circuit unit (3), an acc circuit unit (4) and a data signal processing unit (5);
the HRG circuit unit (3) is used for receiving and processing the measurement data of the hemispherical resonator gyro (21);
the Acce circuit unit (4) is used for receiving and processing the measurement data of the accelerometer (22);
the data signal processing unit (5) is used for outputting inertial measurement data according to the measurement data of the hemispherical resonant gyroscope (21) and the accelerometer (22).
4. An inertial measurement unit according to claim 3, characterized in that the number of hemispherical resonator gyroscopes (21), accelerometers (22), HRG circuit units (3) and Acce circuit units (4) is six;
the data signal processing unit (5) is also used for carrying out fault detection on each hemispherical resonant gyroscope (21) and each hemispherical resonant gyroscope (22) according to the measurement data of the hemispherical resonant gyroscope (21) and each hemispherical resonant gyroscope (22).
5. A redundantly configured hemispherical resonator gyroscope inertial measurement method, wherein the measurement method is based on the inertial measurement unit of any one of claims 1-4;
the angular velocity output data measured by the inertia measurement assembly is as follows: omegan＝Hn*3·ωb(ii) a The output data of the acceleration is: f. ofn＝Hn*3·fb；
In the formula, ωb、fbRespectively, the three-axis angular velocity and acceleration vector H in the body coordinate systemn*3To measure the matrix, ωn、fnAnd measuring output values of the n hemispherical resonant gyros and the accelerometer respectively.
6. The measurement method of claim 5, further comprising:
simultaneously processing and obtaining 6 groups of default hemispherical resonance gyro and accelerometer data and 1 group of normal hemispherical resonance gyro and accelerometer data, and outputting 13 groups of angular velocity and acceleration measurement data;
and judging and outputting the fault states of the hemispherical resonant gyros and the accelerometers by adopting a fault detection algorithm.
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