Fault Detection Method of Laser Inertial Navigation System Based on the Overlapping Model

서론 I.

(RLG: Ring Laser Gyroscope)

(LINS: Laser Inertial Navigation System)

[1,6,8-10]. ,

, , ,

, ,

, ,

.

[7].

95%

/ [7,11-13].

, .

.

95%

1

* (Corresponding Author)

: 2011. 8. 20., : 2011. 9. 5., : 2011. 9. 25.

, , :

([email protected]/[email protected]/[email protected]) : ([email protected])

.

1 /

.

.

/

.

SFD (Start-up Fault Detection)

CFD (Continuous Fault Detection)

PFD (Performance Fault Detection) ,

2

3 .

2 3 16bit (BMONW1,

BMONW2, BMONW3) ,

2 1

(INU_CW1) .

. II

,

Fault Detection Method of Laser Inertial Navigation System Based on the Overlapping Model

, , , ^*

(Cheon-Joong Kim

, Ki-Jeong Yoo

, Hyeon-Suk Kim

, and Joon Lyou

)

1Agency for Defense Development

2Chungnam National University

Abstract: LINS (Laser Inertial Navigation System) consists of RLG (Ring Laser Gyroscopes)/accelerometers and provides real-time navigation information to the target system. Therefore it is very important to make a decision in the real time whether LINS is in the normal operation or not. That is called a fault detection method. In this paper, we propose the fault detection method of LINS based on the overlapping model. We also show that the fault detection probability is increased through overlapping the hardware model and the software model. It is verified through the long-term operation and RAM (Reliability Availability Maintainability) analysis of LINS that the fault detection method proposed in this paper is able to detect about 97%

of probable system failures.

Keywords: INS, fault detection, RLG, overlapping model

Copyright© ICROS 2011

III

IV .

레이저 관성항법장치 시스템 구성 개요 II.

RLG .

1 ,

1 .

동작원리 및 구성품 1. RLG

. RLG

, (dither),

, 2 , 2

,

(piezo actuator), , ,

RAVS (Relative Angular Velocity Sensor) [1-5].

실리콘 가속도계 동작원리 및 구성품 2.

.

, ,

, .

[8].

레이저 관성항법장치 전자모듈 3.

센서제어기 보드 3.1

3

, RLG .

, , PLC

(Path Length Control) / , .

보드 3.2 MUX 3

.

저 고전압 공급 보드 3.3 /

(+5,±15) RLG (±100,-180,-1000,+3200)

.

자이로 인터페이스 보드 3.4

, . 가속도계 인터페이스 보드

3.5

. 항법컴퓨터 보드

3.6

.

1. .

Fig. 1. Schematic of LINS.

2. .

Fig. 2. Processing method of fault detection signal.

1. .

Table 1. Functional description of LINS components.

RLG

MUX

3 ,

3 / /

/ / GPS

,

레이저 관성항법장치 고장검출 기법 III.

하드웨어 고장검출 기법 개발 1.

3 .

,

. 2~4

.

레이저 관성항법장치 하드웨어 고장검출 기능 1.1

자이로 출력펄스 고장검출 1.1.1

II RLG

Sin Pulse Cos Pulse .

3. (SIN, COS).

Fig. 3. Interferometeric signals of detector.

SIN COS

3 .

3 VF (Voltage to Frequency) MUX

.

2MHz . 3

2arcsec , 2 .

70 130deg/s ,

(360Hz~440Hz)

. 1/(

) 20 ,

4

. 1/(

) 4

, (100deg/s )

4

. 몸체진동기 동작 고장검출 1.1.2

,

. RLG

, .

360~440Hz

1/310 1

zero-rate .

자이로 방전 고장검출 1.1.3

RLG /

. +3200V

, -1000V

.

, -1000V

.

2. .

Table 2. Functional description of hardware fault detection.

SIN COS VF

PLC PLC Reset

3. .

Table 3. Hardware fault detection signals.

(LI, DI, PLC)

3 3

BUS Local BUS

3

4. .

Table 4. Hardware self-fault detection function.

Reset

BUS Local Hold

고장검출 1.1.4 PLC Reset

PLC Reset PLC

, PLC Offset

Reset . PLC Reset PLC Reset .

고장검출을 위해 출력되는 하드웨어 신호 1.1.5

AD (Analog to Digital)

. LI (Laser

Intensity), DI (Current Difference), VPLC, VDIS, VDTH . LI

DI

( 300uA) VPLC

, 6 7

.

AD .

가 고장검출

( ) LI

LI ,

2.0V - 5.0V . 3.0 - 4.5V ,

( 300uA) .

- LI 1.5V

2 ,

.

2.0V .

나 고장검출

( ) DI

RLG Cathode

Anode 5K

100 AD . DI

(

300uA) 4uA .

다 전압 고장검출

( ) PLC

PLC PLC

. 5 Volt

0 Volt .

.

PLC . PLC

PLC

PLC .

라 전압 고장검출

( ) VPLC

PLC power amp

(60 ) -180V

1M 12K 12K

AD . ±2.5V PLC

VPLC -150V(-2.5V) .

마 방전 전압 고장검출

( ) VDIS( )

RLG 1/350 AD

. Nominal -980V ±180V

. AD

.

바 몸체진동기 전압 고장검출

( ) VDTH( (±))

power amp

1M 20K 20K ±

AD .

사 저전압 공급 고장검출 ( )

5V ±15V AD

.

아 고전압 전원 출력 자이로 공급전압 고장검출

( ) -

. +3200V : -1000V : - 180V : PLC

± 100V :

+3200V ,

, 3

AD .

자이로 가속도계 온도 출력 온도센서 고장검출

1.1.6 / -

3 4 ,

. ,

MUX AD

. 3

AD .

테스트 정보 출력 자이로 버스 고장검출

1.1.7 BUS -

Local BUS /

Read Cycle Write Cycle BUS .

하드웨어 자체진단 신호 고장검출

1.1.8

가 항법컴퓨터 자체전압 출력 모니터 및 리셋 기능 ( )

5V

3.3V , 3.3V

2.0V . 3.3V

, 3.3V 2.9V

, Reset

Reset .

나 항법컴퓨터 자가 고장검출 및 회복

( ) BUS

RAM, ROM, I/O

BUS cycle .

BUS cycle

BUS pending

.

BUS cycle pending , Watch-Dog timer

BUS cycle .

소프트웨어 고장검출 기법 개발 2.

. 자이로 성능 고장검출 기법 2.1

(1) 

( ), ( ),

( ) (2)

.

( ) .

( ) (3)

. (3) (4)

.

RLG

RLG

. (1)



(5)



(6)

(4) .

(7) .

.



 



(1)



    

  

  

 

  



(2)







  ^ _ ^

^ _ 



 

  ^

 



   (3)



^





  (4)







  ^{ } _

^ _ 



 



(5)



^

^

^

^{  (6)}



^{ }

 

 

 

⁽⁷⁾



  ^{  }  ^ 

^ _ 





  _ ^{ }

^{ }

^ _ 





정렬위도 고장검출 기법 2.2

.

( 

)

.

RLG



.

(8)

(9) .

(8)  (9) 

, 

. 

RLG

(10) .

(9) RSS

(11)

. 4

.

N

E

ˆE ˆN

Platform Frame: 실제적으로 항법계산이 이루어지는 좌표계

: small angle δψ

E 0 Ω =

N cosφ

Ω = Ω

ˆ ˆN cos cosφ δψ δβN

Ω = Ω ⋅ +

ˆ ˆE cos sinφ δψ δβE

Ω = Ω ⋅ + Azimuth Correction

ˆ

ˆ cos cos cos

cos (cos 1) ˆ

| cos (cos 1) | | ˆ | ˆ

N N N

c N

N N

N

φ δψ δβ φ

φ δψ δβ

φ δψ δ

δβ ω β

Ω − Ω = Ω ⋅ + − Ω

= Ω ⋅ −

Ω ⋅ − <<

=

+

≈

Mini-Bias

4. .

Fig. 4. Align latitude fault detection technique.







  ^{ } _

^ _ 



 

  ^

 

 

 (8)



  



  

(9)

 

 



 



(10)



^

 

  

⁽¹¹⁾

가속도계 성능 고장검출 2.3

.

3 



(2), (5)

(12) . (12) (8) 

(2)



(13)

. (13)

.

(15) .

(14)

(16) . (16)

(16)

(17) . (17)

.

.

5 .



 



(12)







  ^{ } _

^ _ 



 

  ^

 

 

 

 (13)

 ^{ }

^

^

^{  (14)}

 ^{ }





  

⁽¹⁵⁾

5. .

Fig. 5. Principle of Accelerometer fault detection.









  ^{   }  

^ _ 





  ^{ } _

^{ }

^ _ 





(16)



^{ }

 

 

  (17) 관성센서뭉치 가속도계 고장검출

2.4

200 Hz .

.

관성센서뭉치 각속도 고장검출 2.5

200 Hz .

.

이용 가속도계 고장검출

2.6 FFT RLG/

RLG lock-in

400Hz 100 deg/sec .

[4].

3 RLG

.

3 RLG 400Hz

30 Hz 370, 400, 430Hz .

.

. RLG/

(18), (19) [4].



 



 



 



 









 







 



 



 



 









 







 



 



 



 









 





(18)



 





 

















 





 

















 





 















(19)



, 

, 

x, y, z RLG .

(18), (19) /

RLG/

RLG/

. RLG/

.

RLG/ FFT

6, 7 .

FFT RLG/

[4].

온도센서 고장검출 2.7

6

.

200 Hz

0.1 Hz

15 .

.

동작초기부터 고장이 존재하는 경우 2.7.1

. RLG/

3 RLG/

.

RLG/ 3

.

RLG/ .

동작중에 온도센서가 고장인 경우 2.7.2

. 온도센서 제한 범위 초과 고장 2.7.3

. 온도센서에 대한 고장배제 기능 2.7.4

1 3

.

.

온도센서 고장검출 기법 검증 시뮬레이션 2.7.5

RLG/

.

900 Z

.

8~11 .

14 Z 15, 16 Z

“ ,

” , 8 “Z

”

11 “Z Y

” . 8~11

.

360 380 400 420 440

0 5 10

Time (s)

Amplitude

360 380 400 420 440

-7000000 -6000000 -5000000 -4000000 -3000000 -2000000 -100000010000000

Time (s)

Angle(deg)

6. X FFT .

Fig. 6. FFT result of measurements from X-axis accelerometer.

0 20 40 60 80 100

0.00 0.01 0.02 0.03 0.04 0.05 0.06

Time (s)

Amplitude

0 20 40 60 80 100

-250000 -200000 -150000 -100000-500000

Time (s)

Angle(deg)

7. X FFT .

Fig. 7. FFT result of measurements from X-axis gyroscope.

500 600 700 800 900 1000 1100 1200 1300 1400 1500 30

40 50 60 70 80 90 100 110 120

Accel. Temp

Time(sec)

X-Axis Accel. Temp.

Y-Axis Accel. Temp.

Z-Axis Accel. Temp.

8. Z .

Fig. 8. Temperature sensor fault of X-axis accelerometer.

860 880 900 920 940

0 10000 20000 30000 40000

50000 0xC000

temflag

Time(sec) 0x8000

9. .

Fig. 9. Fault detection result of temperature sensor.

500 600 700 800 900 1000 1100 1200 1300 1400 1500 -10

0 10 20 30 40 50 60 70

overflag

Time(sec) 0x0040

10. .

Fig. 10. Fault detection result of temperature output over measurement limit.

500 600 700 800 900 1000 1100 1200 1300 1400 1500 -2

0 2 4 6 8 10 12 14 16 18

isoflag

Time(sec)

0x0010

11. .

Fig. 11. Fault isolation result of temperature sensor.

자이로 고장검출 2.8

초기에 한번만 발생하는 고장

2.8.1 (SFD)

. 가 자이로 몸체진동기 이득 고장 ( )

RLG

. 나 자이로 버스 고장

( )

. 다 자이로 몸체진동기 주파수 고장

( )

3 RLG

. RLG

RLG .

.

.

동작중 주기적으로 수행되는 고장검출 2.8.2

2 .

. X, Y ,

Z

. .

✠ On: ZA (Zero Angle) Pulse

0.1 30 Count On

✠PLC On: PLC Reset Off(Low )

✠Ignition On: RLG Off

(Low )

✠Sin, Cos, VF:

10 Count On

✠Ignition All : X, Y, Z On

통신 고장검출 2.9

통신 고장검출 2.9.1 MIL-STD-1553B

MIL-STD-1553B

. MIL-STD-1553B

. 통신 고장검출 2.9.2 RS232C

RS232C loopback

. 컴퓨터 고장검출

2.10

타스크 고장검출

2.10.1 (Task) vxWorks taskSpawn()

. 고장검출 2.10.2 Semaphore

Semaphore ,

. 메모리 고장검출 2.10.3

ROM RAM .

ROM RAM

RAM .

RAM ROM .

수신기 고장검출 2.11 GPS

GPS

. GPS GPS

GPS

1PPS

. GPS

, GPS

PPS

15 15

. 기압고도계 고장

2.12

.

. 시험 2.13 FROM (Flash ROM)

FROM .

FROM

4 Check-Sum

FROM

Check-Sum FROM

.

수평축 수직축 가속도계 고장

2.14 ,

(8)

0 1g

.

.

30

.

.

결언 IV.

5 .

.

,

. /

,

, HILS, ,

.

.

6 RAM (Reliability: , Availability: , Maintainability: )

,

97.3% .

95%

.

참고문헌

[1] G. T. Schmidt and N. M. Barbour etc., “Advances in navigation sensors and integration technology,” NATO, Report, EN-SET-064, 2003.

[2] J. E. Killpatrick, “The laser gyro,” IEEE Spect. vol. 4, no. 10, pp. 44-55, Oct. 1967.

[3] E. J. Post, “Sagnac effect,” Review of Modern Physics, vol. 39, no. 2, pp. 475-493, Apr. 1967.

[4] H. S. Yoo and C. J. Kim, “Falut detection method of laser inertial navigation system using FFT,” J. of The Korean Society for Aeronautical and Space Sciences(in Korean), vol. 37, no. 5, pp. 502-510, 2009.

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5.

.

Table 5. Summary of fault detection types according to LINS components.

SFD CFD PFD RLG(3)

(3)

MUX

×

×

&

×

×

×

×

GPS ×

×

6. RAM .

Table 6. RAM analysis result according to LINS components.

(%)

RLG(3) 24.6

(3) 10.9

1.7

MUX 1.2

6.5 24.3

&

13.1 3.9 1.6 9.5

, 0.4

2.3

김 천 중

1991 . 1993

. 1993 ~2000 . 2001 ~2002

. 2003

~ . .

, .

김 현 석

2003 . 2005

.

2005 ~ .

. , DB

.

유 기 정

1997 .

2002 . 2002 ~

.

, DB .

유 준

1978 .

1980/1984 , KAIST / . 1984 ~

.

, , IT ,

.