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...
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| Published in | Journal of marine science and application Vol. 18; no. 4; pp. 530 - 541 |
|---|---|
| Main Authors | , , , |
| 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 |
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| Abstract | 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. |
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| AbstractList | 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. |
| Author | Hao, Shenggong Liu, Jing Wei, Yanhui Hu, Jiaxing |
| AuthorAffiliation | College of Automation,Harbin Engineering University,Harbin 150001,China |
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| Author_xml | – sequence: 1 givenname: Yanhui surname: Wei fullname: Wei, Yanhui email: 15663423085@163.com organization: College of Automation, Harbin Engineering University – sequence: 2 givenname: Jing surname: Liu fullname: Liu, Jing organization: College of Automation, Harbin Engineering University – sequence: 3 givenname: Shenggong surname: Hao fullname: Hao, Shenggong organization: College of Automation, Harbin Engineering University – sequence: 4 givenname: Jiaxing surname: Hu fullname: Hu, Jiaxing organization: College of Automation, Harbin Engineering University |
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| CitedBy_id | crossref_primary_10_1177_14750902241260104 crossref_primary_10_1016_j_oceaneng_2021_110290 crossref_primary_10_1016_j_oceaneng_2023_115471 crossref_primary_10_1051_e3sconf_202236001094 |
| Cites_doi | 10.1109/TAC.2015.2438415 10.1109/tac.2015.2438415 10.1016/j.ast.2011.03.005 10.1161/HYPERTENSIONAHA.109.130880 10.3390/s140101511 10.3969/j.issn.1672-6413.2009.02.041 10.1016/j.actaastro.2014.08.020 10.1109/tim.2011.2115330 10.1016/S0005-1098(00)00089-3 10.1016/j.ast.2014.11.009 10.1109/78.978374 10.1016/j.ast.2010.08.007 10.1109/acc.1995.529783 10.1109/icemi.2011.6037952 10.1007/s11804-005-0030-3 10.1109/tsp.2007.893914 10.1080/02664763.2012.680690 10.1109/tcst.2014.2300815 10.1007/s11804-010-8052-x 10.1016/j.bpj.2008.11.072 10.1007/s11804-006-6024-y 10.1007/978-3-540-35653-0 10.1109/AUV.1990.110435 10.1109/icma.2005.1626585 10.2514/6.2011-2385 |
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| Copyright | Harbin Engineering University and Springer-Verlag GmbH Germany, part of Springer Nature 2019 2019© Harbin Engineering University and Springer-Verlag GmbH Germany, part of Springer Nature 2019 Copyright © Wanfang Data Co. Ltd. All Rights Reserved. |
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| Keywords | Federated Kalman filter Double-criteria failure detection Heading fault tolerance Underwater robot Redundant structure Electronic compass |
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| Snippet | This paper proposes a heading fault tolerance scheme for operation-level underwater robots subject to external interference. The scheme is based on a... |
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| SubjectTerms | 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 |
| Title | Design of Heading Fault-Tolerant System for Underwater Vehicles Based on Double-Criterion Fault Detection Method |
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