捷联惯导系统中确保全姿态测量的软故障检测和隔离

本文探讨了最多有两个捷联陀螺发生软故障时的故障检测和隔离方法，给出了由奇偶向量确定的软故障χ＾２检验法，详细推导了两个陀螺都发生软故障时的极大似然故障隔离判决函数的计算公式，归纳出了对故障陀螺的隔离搜索算法。仿真结果表明，即使故障量与漂移一样微小，该法仍能准确检测并隔离出故障陀螺。

THE SOFT FAULT DETECTING AND LSOLATING TO ENSURE THE ENTIRE ATTITUDE MEASURING OF A STRAPDOWN INERTIAL NAVIGATION SYSTEM

In the federated filter design,the reliability of a strapdown inertial navigation system should be guaranteed absolutely because it is used as a common reference system.The paper investigates the way to detect and to isolate at most two faulty inertial components.The soft fault detection algorithm based on chi square test is reviewed.The parity judgement function to isolate two faulty inertial components based on maximun likelyhood test is deduced in detail.The algorithm to search the faulty components is induced.The fault detection and isolation of the scewed redundant ring laser gyro cluster is simulated on the computer.The results show that the searching scheme can detect and isolate faulty components correctly even if the soft faults are as tiny as the gyro drifts.