Navigation System Fault Diagnosis for Underwater Vehicle

Thomas Falkenberg, Rene Tavs Gregersen, Mogens Blanke

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    Abstract

    This paper demonstrates fault diagnosis on unmanned underwater vehicles (UUV) based on analysis of structure of the nonlinear dynamics. Residuals are generated using dierent approaches in structural analysis followed by statistical change detection. Hypothesis testing thresholds are made signal based to cope with non-ideal properties seen in real data. Detection of both sensor and thruster failures are demonstrated. Isolation is performed using the residual signature of detected faults and the change detection algorithm is used to assess severity of faults by estimating their magnitude. Numerical simulations and sea trial data show results with very favourable balance between detection and false alarm probabilities.
    Original languageEnglish
    Title of host publicationProceedings of the 19th IFAC World Congress
    PublisherInternational Federation of Automatic Control
    Publication date2014
    Pages9654-9660
    DOIs
    Publication statusPublished - 2014
    Event19th World Congress of the International Federation of Automatic Control (IFAC 2014) - Cape Town, South Africa
    Duration: 24 Aug 201429 Aug 2014
    http://www.ifac2014.org/

    Conference

    Conference19th World Congress of the International Federation of Automatic Control (IFAC 2014)
    Country/TerritorySouth Africa
    CityCape Town
    Period24/08/201429/08/2014
    OtherThe theme of the congress: “Promoting automatic control for the benefit of humankind”
    Internet address
    SeriesI F A C Workshop Series
    Number1
    Volume19
    ISSN1474-6670

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