论文部分内容阅读
以电子磁通门罗盘为例对自主水下机器人(Autonomous Underwater Vehicles,AUVs)传感器故障检测方法展开研究。针对电子罗盘极易受到周围磁场的影响而产生时对时错的数据这一问题,首先联立AUV的运动学和动力学方程得到AUV的全状态非线性模型;然后分析了电子罗盘的误差来源,建立了误差的模型;在此基础上,提出了基于贝叶斯估计的故障检测方法并给出了该方法离散形式的递推迭代公式;最后参照实际使用的电子罗盘的参数和AUV的机动能力,设计了仿真实验和外场试验,通过实验验证了该方法的正确性和有效性。
Taking the electronic fluxgate compass as an example, this paper investigates the sensor failure detection methods of Autonomous Underwater Vehicles (AUVs). Aiming at the problem that the electronic compass is susceptible to the time-mismatched data when the magnetic field is very sensitive to the surrounding magnetic field, the full-state nonlinear model of the AUV is obtained by the kinematics and dynamics equations of the simultaneous AUV. Then the error sources of the electronic compass , A model of error is established. Based on this, a fault detection method based on Bayesian estimation is proposed and a recursive iterative formula of the discrete form of the method is given. Finally, with reference to the actual parameters of the electronic compass and the maneuver of the AUV Ability, designed the simulation experiment and the field experiment, verified the correctness and effectiveness of the method through experiments.