Design of Heading Fault-Tolerant System for Underwater Vehicles Based on Double-Criterion Fault Detection Method

• Published in: Journal of marine science and application Vol. 18; no. 4; pp. 530 - 541
• Main Authors: Wei, Yanhui, Liu, Jing, Hao, Shenggong, Hu, Jiaxing
• Format: Journal Article
• Language: English
• Published: Harbin Harbin Engineering University 01.12.2019; Springer Nature B.V; College of Automation,Harbin Engineering University,Harbin 150001,China
• Subjects: Algorithms; Compasses; Criteria; Detection; Electrical Machines and Networks; Engineering; Fault detection; Fault tolerance; Geotechnical Engineering & Applied Earth Sciences; Interference; Kalman filters; Machinery and Machine Elements; Magnetic field; Magnetic fields; Offshore Engineering; Power Electronics; Redundant components; Research Article; Sensors; Underwater robots; Underwater vehicles; Federated Kalman filter; Double-criteria failure detection; Heading fault tolerance; Underwater robot; Redundant structure; Electronic compass
• ISSN: 1671-9433; 1993-5048
• DOI: 10.1007/s11804-019-00109-2

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.