Algorithm for detecting failures of an inertial navigation system on an unmanned surface vessel
https://doi.org/10.17586/0021-3454-2024-67-1-70-79
Abstract
The solution to the problem of detecting failures of sensors in the inertial navigation system of an unmanned surface vessel is considered. An algorithm based on a full order state observer is proposed. A failure detection condition is introduced based on the mismatch signal vector and threshold value. To detect a failed sensor, directional mismatch signal generators are used. The proposed algorithm is applied to the second-order Nomoto vessel model. Angular and linear velocity meters were selected as sensors tested for failures. In the process of synthesis of the failure detection algorithm, two observers were constructed, each of which is sensitive to failures of an individual sensor. Results of computer simulation in the MatLab Simulink software package are presented, confirming the effectiveness and efficiency of the proposed approach. The developed algorithm makes it possible to detect failures of inertial navigation system sensors without using additional measuring instruments, which helps reduce maintenance and diagnostic costs, as well as reduce the time spent on detecting problems.
Keywords
surface vessel,
unmanned vessel,
Nomoto model,
failure detection,
diagnostics,
inertial navigation system
Supporting agencies: The work was supported by the Russian Science Foundation, grant No. 23-79-10071; https://rscf.ru/project/23-79-10071/.
About the Authors
D. A. Galkina
ITMO University
Russian Federation
Russian Federation
Daria A. Galkina - Post-Graduate Student; Faculty of Control Systems and Robotics
St. Petersburg
A. A. Margun
ITMO University ; Institute for Problems in Mechanical Engineering of the RAS
Russian Federation
Russian Federation
Alexey A. Margun - PhD; Faculty of Control Systems and Robotics; Associate Professor; Institute for Problems in Mechanical Engineering of the RAS; Senior Researcher
St. Petersburg
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For citations:
Galkina D.A., Margun A.A. Algorithm for detecting failures of an inertial navigation system on an unmanned surface vessel. Journal of Instrument Engineering. 2024;67(1):70-79. (In Russ.) https://doi.org/10.17586/0021-3454-2024-67-1-70-79
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