Navigation System Fault Diagnosis for Underwater Vehicle

Thomas Falkenberg, Rene Tavs Gregersen, Mogens Blanke

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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
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


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


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