基于双判据故障检测法的水下机器人航向容错系统设计

作者：魏延辉,刘静,郝晟功,胡加兴

摘要：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.

发文机构：College of Automation

关键词：UnderwaterrobotHeadingfaultTOLERANCEREDUNDANTstructureDouble-criteriafailuredetectionFederatedKalmanfilterElectronicCOMPASSUnderwater robotHeading fault toleranceRedundant structureDouble-criteria failure detectionFederated Kalman filterElectronic compass

分类号： TP2[自动化与计算机技术—控制科学与工程][自动化与计算机技术—检测技术与自动化装置]