24 October 2017 A new fault diagnosis algorithm for AUV cooperative localization system
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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.
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Hongyang Shi, Zhiyong Miao, 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); doi: 10.1117/12.2283008; https://doi.org/10.1117/12.2283008
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