基于雙判據故障檢測法的水下機器人航向容錯系統設計

作者：魏延輝,劉靜,郝晟功,胡加興

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.

發文機構：College of Automation

關鍵詞：UnderwaterrobotHeadingfaultTOLERANCEREDUNDANTstructureDouble-criteriafailuredetectionFederatedKalmanfilterElectronicCOMPASSUnderwater robotHeading fault toleranceRedundant structureDouble-criteria failure detectionFederated Kalman filterElectronic compass

分類號： TP2[自動化與計算機技術—控制科學與工程][自動化與計算機技術—檢測技術與自動化裝置]