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

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...