论文摘要
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.
论文目录
文章来源
类型: 期刊论文
作者: 魏延辉,刘静,郝晟功,胡加兴
来源: Journal of Marine Science and Application 2019年04期
年度: 2019
分类: 工程科技Ⅱ辑
专业: 船舶工业
单位: College of Automation, Harbin Engineering University
基金: supported by the Natural Science Foundation of Heilongjiang Province(E2017024),13th Five-Year Pre-Research(J040717005),National Defense Basic Research(A0420132202),China International Ministry of Science and Technology International Cooperation Project(2014DFR10010)
分类号: U674.941
页码: 530-541
总页数: 12
文件大小: 2175K
下载量: 32