A fast mutant fault detection method of underwater integrated navigation

Abstract

The concepts of the mean of residual and the sum of absolute residuals are introduced in this paper. Both of them along with the fault detection function are used to detect mutant fault of the assisted navigation devices in underwater integrated navigation system. (1) The traditional residual χ2 detection method is improved according to the structural characteristics of the underwater navigation system. (2) The mean of residual and the sum of absolute residuals are introduced as the characteristics of mutant faults. (3) The improved residual χ2 detection method is used to make sure of the happening of the mutant fault firstly. Then the residual mean and the sum of residual absolute values are used to distinguish the noise mutant system fault and the information mutant system fault. The results of simulations and the vehicle tests show that: (1) the mutant fault of the sub-system can be detected and the faulty sub-system can be isolated immediately when the fault appears with our novel method; (2) The noise mutant fault and the information mutant fault can be distinguished efficiently according to characteristics of the mean of residuals and the sum of the absolute residuals.