The development of system of accommodation to faults of navigation sensors of underwater vehicles with resistance to disturbance

Author

Filaretov, Vladimir ; Zhirabok, Alexey ; Zuev, Alexander ; Procenko, Alexander

Author_Institution

Far Eastern Fed. Univ., Vladivostok, Russia

fYear

2014

fDate

22-25 Oct. 2014

Firstpage

1548

Lastpage

1553

Abstract

In this paper, a new approach for synthesis of system of accommodation to faults of navigation sensors of underwater vehicles (UV) is developed and investigated. Proposed system is synthesized by using kinematic model of UV and data fusion of sensors signals. The advantage of this approach is that it allows detecting and isolating faults in sensors of UV and operatively to compensate their effects at performance of underwater missions in unknown environment with unknown external disturbances, including noised sensor signals.

Keywords

fault diagnosis; kinematics; marine navigation; oceanographic techniques; sensor fusion; sensors; underwater vehicles; UV; data fusion; fault detection; fault isolation; kinematic model; navigation sensor; noised sensor signal; underwater mission perfonnance; underwater vehicle; unknown external disturbance; Equations; Mathematical model; Navigation; Sensors; Vehicle dynamics; Kalman filter; diagnostic system; faults; sensors; underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2014 14th International Conference on

Conference_Location

Seoul

ISSN

2093-7121

Print_ISBN

978-8-9932-1506-9

Type

conf

DOI

10.1109/ICCAS.2014.6987813

Filename

6987813