The Development of Subsystem of Accommodation to Faults for Dead Reckoning System of Autonomous Underwater Vehicles

This paper is dedicated to developing of new method of synthesis of subsystem of accommodation to continuous faults for dead reckoning system (DRS) of autonomous underwater vehicles (AUV). Proposed method consists of three basic stages. On the first step, the problem of detection and localization of faults through the use of kinematic model of AUV and special data fusion from its navigation sensors is solved. On the second stage, the task of identification of fault values is solved by the introduction of additional observers with feedback by residual signals. In the third stage additional signals, compensating the faults are formed in the respective control channels of AUV. The advantage of proposed method is simplicity of realization and high precision of compensation of the revealed faults in the conditions of uncertainty and essential variability of parameters of environment. The results of mathematical simulation is fully confirmed the efficiency and high performance of the proposed method.