Sensor fault diagnosis for underwater robots

摘要

Research on sensor fault diagnosis of underwater robots (URs) is undertaken to improve its whole system reliability. Based on the analysis of URspsila three kinds of sensor failures, fault diagnosis methods corresponding to these failures are presented. The basic principles of wavelet transform and linear smoothing are expressed, signal singularity analysis is conducted and the general standard of selecting mother wavelet function is discussed. The fault diagnosis methods were applied to the practical tank and sea experiments, and some results were obtained. Based on the analysis of the results, the validity and feasibility of the methods can be verified and some reference values in engineering application can be demonstrated by the tank and sea test results.