A new fault diagnosis algorithm for AUV cooperative localization system

Hongyang Shi; Zhiyong Miao; Yi Zhang

doi:10.1117/12.2283008

24 October 2017 A new fault diagnosis algorithm for AUV cooperative localization system

Hongyang Shi, Zhiyong Miao, Yi Zhang

Proceedings Volume 10463, AOPC 2017: Space Optics and Earth Imaging and Space Navigation; 104630Q (2017) https://doi.org/10.1117/12.2283008
Event: Applied Optics and Photonics China (AOPC2017), 2017, Beijing, China

Abstract

Multiple AUVs cooperative localization as a new kind of underwater positioning technology, not only can improve the positioning accuracy, but also has many advantages the single AUV does not have. It is necessary to detect and isolate the fault to increase the reliability and availability of the AUVs cooperative localization system. In this paper, the Extended Multiple Model Adaptive Cubature Kalmam Filter (EMMACKF) method is presented to detect the fault. The sensor failures are simulated based on the off-line experimental data. Experimental results have shown that the faulty apparatus can be diagnosed effectively using the proposed method. Compared with Multiple Model Adaptive Extended Kalman Filter and Multi-Model Adaptive Unscented Kalman Filter, both accuracy and timelines have been improved to some extent.

Citation Download Citation

Hongyang Shi, Zhiyong Miao, and Yi Zhang "A new fault diagnosis algorithm for AUV cooperative localization system", Proc. SPIE 10463, AOPC 2017: Space Optics and Earth Imaging and Space Navigation, 104630Q (24 October 2017); https://doi.org/10.1117/12.2283008

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