AUV导航系统故障诊断与容错技术研究综述  

Review on fault diagnosis and fault tolerance technology of AUV navigation system

作　　者：王权达 徐博[1] 张涛[2] Wang Quanda;Xu Bo;Zhang Tao(College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China;School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China)

机构地区：[1]哈尔滨工程大学智能科学与工程学院,哈尔滨150001 [2]东南大学仪器科学与工程学院,南京210096

出　　处：《战术导弹技术》2023年第4期26-36,I0003,共12页Tactical Missile Technology

基　　金：黑龙江省自然科学基金(LH2022F014)。

摘　　要：自主水下航行器(AUV)导航系统的故障检测与容错技术是实施现代化海洋战略的重要保障。综述了近年国内外AUV组合导航与协同导航系统故障诊断方法的相关研究进展,包括基于解析模型、传感器信号处理以及基于人工智能的故障检测方法和传感器短时失效的容错技术,并分析了目前各类算法的适用条件及优缺点。针对水下导航系统多传感器信息融合容错方法,对比总结了现有多传感器故障容错算法的优劣势与技术难点,同时对水下组合导航与协同导航系统故障检测及信息融合容错算法的未来发展趋势进行了展望,为AUV导航系统故障诊断与容错方向提供参考。The fault detection and fault tolerance technology of autonomous underwater vehicle(AUV)navigation system is an important guarantee for the implementation of modern marine strategy.It summarizes the research progress of fault diagnosis methods of AUV integrated navigation and cooperative navigation system at home and abroad in recent years,including the fault detection methods based on analytical model,sensor signal processing,artificial intelligence and short-time sensor failure tolerance technology.And the application conditions,advantages and disadvantages of various algorithms are analyzed.Aiming at the fault tolerance methods of multi-sensor information fusion in the underwater navigation system,the advantages,disadvantages and technical difficulties of existing multi-sensor fault tolerance algorithms are compared and summarized.Meanwhile,the future development trend of fault detection and information fusion fault tolerance algorithm in underwater integrated navigation and cooperative navigation system is prospected,which gives a reference for the fault diagnosis and fault tolerance direction of AUV navigation system.

关 键 词：自主水下航行器 组合导航 协同导航 故障诊断 故障容错 人工智能 卡尔曼滤波 

分 类 号：U666.1[交通运输工程—船舶及航道工程]