Sensor Fault Diagnosis of Autonomous Underwater Vehicle

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.