王丽荣, 徐玉如. 水下机器人传感器故障诊断[J]. 机器人, 2006, 28(1): 25-29.
引用本文: 王丽荣, 徐玉如. 水下机器人传感器故障诊断[J]. 机器人, 2006, 28(1): 25-29.
WANG Li-rong, XU Yu-ru. Sensor Fault Diagnosis of Autonomous Underwater Vehicle[J]. ROBOT, 2006, 28(1): 25-29.
Citation: WANG Li-rong, XU Yu-ru. Sensor Fault Diagnosis of Autonomous Underwater Vehicle[J]. ROBOT, 2006, 28(1): 25-29.

水下机器人传感器故障诊断

Sensor Fault Diagnosis of Autonomous Underwater Vehicle

  • 摘要: 在分析水下机器人传感器故障形式的基础上,对传感器可能出现的三种故障形式分别给出了相应的诊断方法,即通过传感器长时间采集不到数据来诊断传感器信息保持不变的故障,线性平滑滤波解决传感器输出振荡,小波变换检测传感器信息的突变.海中试验验证了本方法的可行性.

     

    Abstract: Based on the analysis of Autonomous Underwater Vehicle(AUV) sensor failure,diagnosis methods corresponding to three kinds of sensor failure are presented,that is,through that no sensor output for a long time to diagnose the fault of sensor signal gathered keeping unchanged,linear smoothing to solve the vibration of sensor signal,wavelet transform to inspect the broken sensor signal.The feasibility of the method presented is validated through test at sea.

     

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