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Study on Sensor Fault of Unmanned Underwater Vehicles Based on BP Neural Network
Author(s): 
Pages: 138-141,161
Year: Issue:  5
Journal: Wuhan Shipbuilding

Keyword:  无人水下机器人 传感器故障 神经网络 容错控制;
Abstract: 针对无人水下机器人(UUV)传感器常见故障,采用一种基于有限脉冲响应(FIR)滤波器模型的在线故障诊断方法。根据该模型的故障检测结果,提出一种基于BP神经网络模型的容错控制策略,实现水下机器人首向角的估计以及传感器信号的在线重构。将重构的信号替代故障传感器信号,实现水下机器人在线容错控制。在OUTLAND 1000水下机器人定向控制系统中,首向角传感器(罗经)发生故障情形下,给出机器人的故障检测以及容错控制结果。
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