基于四元数估计角速率的陀螺故障定位

当卫星速率积分陀螺的配置冗余度不满足一致性检验条件时，不能单纯利用硬件冗余实现陀螺的故障定位。鉴于角度和角速度敏感器的输出通过卫星运动学相关，本文利用姿态测量敏感器的输出来诊断陀螺故障。首先根据姿态测量敏感器的输出得到卫星姿态四元数，进而根据四元数动力学方程得到粗略的姿态角速度信息，并将此角速度作为输出信息用于对卫星动力学方程的滤波，从而得到较精确的角速度信息，为单冗余度陀螺组件的故障定位提供解析冗余信息。利用四元数方法可以避免出现奇点。仿真结果证明了该方法的有效性。

Fault location of single redundant gyroscopes based on estimated angular rate using quaternion

When the redundancy of the gyroscopes can not meet the condition of consistency check,fault isolation of the gyroscopes can not be realized only by hardware redundancy.In view of the outputs of angular sensors and angular rate sensors are correlative via the dynamical equation,we made use of the outputs of the angular sensors to detect and isolate the gyroscope's fault.First we used Quaternion from angular sensors to estimate angular rates of satellite and acquired the redundant angular speed,and then used this analytic redundancy to diagnosis and locate fault of single redundant gyroscopes.The use of Quaternion instead of Euler angle avoided singular points.The simulation results testified that this method can diagnosis both the soft fault and hard fault of the single redundant gyroscopes.