Design of Heading Fault-Tolerant System for Underwater Vehicles Based on Double-Criterion Fault Detection Method
Yanhui Wei , Jing Liu , Shenggong Hao , Jiaxing Hu
Journal of Marine Science and Application ›› 2019, Vol. 18 ›› Issue (4) : 530 -541.
Design of Heading Fault-Tolerant System for Underwater Vehicles Based on Double-Criterion Fault Detection Method
This paper proposes a heading fault tolerance scheme for operation-level underwater robots subject to external interference. The scheme is based on a double-criterion fault detection method using a redundant structure of a dual electronic compass. First, two subexpansion Kalman filters are set up to fuse data with an inertial attitude measurement system. Then, fault detection can effectively identify the fault sensor and fault source. Finally, a fault-tolerant algorithm is used to isolate and alarm the faulty sensor. The program can effectively detect the constant magnetic field interference, change the magnetic field interference and small transient magnetic field interference, and conduct fault tolerance control in time to ensure the heading accuracy of the system. Test verification shows that the system is practical and effective.
Underwater robot / Heading fault tolerance / Redundant structure / Double-criteria failure detection / Federated Kalman filter / Electronic compass
| [1] |
|
| [2] |
Babcock PSI, Zinchuk JJ (1990) Fault-tolerant design optimization: application to an autonomous underwater vehicle navigation system. Proceedings of the Autonomous Underwater Vehicle Technology, pp 34–43. https://doi.org/10.1109/AUV.1990.110435 |
| [3] |
|
| [4] |
Blanke M, Kinnaert M, Lunze DIJ (2006) Diagnosis and fault-tolerant control. Diagnosis and Fault-tolerant Control, pp 493–494. https://doi.org/10.1007/978-3-540-35653-0 |
| [5] |
|
| [6] |
|
| [7] |
|
| [8] |
Cui N, Han P, Mu R (2011) Fault-tolerant integrated navigation for reusable boost vehicle based on strong tracking UKF. AIAA international space Planes and hypersonic systems and technologies conference. https://doi.org/10.2514/6.2011-2385 |
| [9] |
|
| [10] |
|
| [11] |
Feng Y B, Li X S, Zhang XJ (2015) Fault detection method for integrated navigation system of gyroscope and compass. Journal of instrument and meter 36:2381–2388. |
| [12] |
|
| [13] |
|
| [14] |
|
| [15] |
|
| [16] |
|
| [17] |
|
| [18] |
|
| [19] |
|
| [20] |
|
| [21] |
|
| [22] |
|
| [23] |
Sun F, Song H, Gao W (2005) Study of SINS/GPS/DVL integrated navigation system's fault tolerance. Mechatronics and automation. 2005 IEEE international conference, IEEE, 737–767. https://doi.org/10.1109/icma.2005.1626585 |
| [24] |
|
| [25] |
|
| [26] |
|
| [27] |
|
/
| 〈 |
|
〉 |