液体火箭发动机涡轮泵在高转速、高温度梯度、高压的非平稳工况下极易发生故障。Vold-Kalman 滤波方法能够从复杂时变振动信号中检测出涡轮泵转子故障，但由于涡轮泵振动传递路径复杂，该方法依赖于所采集振动信号的载波的高采样率高精度的相位信息，在键相信号丢失和采样频率低（一圈一个脉冲）的实际应用场景下存在故障检测精度偏低的问题；且 Vold-Kalman 滤波使用批量式优化的方法，求解缓慢，无法在箭载计算机上实现在线检测故障。针对上述两个问题，为实现毫秒级的涡轮泵故障实时诊断，提出了一种滤波诊断方法——二重逐点 Vold-Kalman 滤波器 ( double point-wise Vold-Kalman filter,DPVKF )。DPVKF 首先建立各阶次分量状态转移和状态观测的时变线性高斯模型，然后从低精度的转速脉冲和振动信号中准确重构相应载波的高精度瞬变相位，随后在重构相位的指导下，得到各阶次复包络的最优线性无偏估计，最终在复杂激励干扰下提取到涡轮泵转子的故障特征。故障模拟实验和某型号涡轮泵低温轴承运转实验表明：提出的方法可实现高实时性、高可靠性的涡轮泵转子故障诊断。

The turbopump of liquid rocket engines is prone to failure under non-stationary conditions characterized by high speed, high temperature gradients, and high pressure. The Vold-Kalman filtering (VKF) method can detect turbopump rotor faults from complex time-varying vibration signals. However, due to the complex vibration transmission path of the turbopump, VKF relies on high sampling rate and high-precision phase information of the carrier of the collected vibration signals, resulting in low fault detection accuracy in practical scenarios where key-phase signal loss and low sampling frequency (one pulse per revolution) occur. Moreover, VKF uses batch optimization methods, which are slow to solve and cannot perform online fault detection on the rocket-borne computer. To address these two issues and achieve real-time diagnosis of turbopump faults in milliseconds, a filtering diagnostic method, the Double Point-wise Vold-Kalman Filter ( DPVKF ), was proposed. DPVKF firstly establishes time-varying linear Gaussian models for the state transition and state observation of each order component. Then, it accurately reconstructs the high-precision transient phase of the corresponding carrier from low-precision speed pulses and vibration signals. Subsequently, under the guidance of the reconstructed phase, DPVKF obtains the optimal linear unbiased estimates of the complex envelopes for each order. Finally, DPVKF extracts the fault characteristics of the turbopump rotor under complex excitation interference. Fault simulation experiments and operational tests of the cryogenic bearings on a certain type of turbopump demonstrate that the proposed method can achieve high real-time performance and high reliability in turbopump rotor fault diagnosis.