The development of the adaptive diagnostic system for navigation sensors of autonomous underwater vehicles

In this paper, the problem of the development of adaptive diagnostic system for navigation sensors of autonomous underwater vehicle (AUV) is studied. The diagnostic system is synthesized by using the observer-based methods. Herewith the big problem is uncertainty and variability of parameters of model of the underwater vehicles during performance of underwater mission. It does not allow to execute diagnostics of navigation systems of the device qualitatively. For solving this problem, the method of synthesis of special adaptive feedback for each diagnostic observer is offered. As a result the adaptive diagnostic system allows to detect and to isolate the faults of navigation sensors of the vehicles at performance of underwater missions in real time. The proposed adaptive diagnostic system was tested by simulation with parameters of real AUV. The results of simulation have completely confirmed the working capacity and high quality of the proposed robust observers with feedback in different regimes of work of underwater vehicle.