Sensor fault diagnosis for autonomous underwater vehicle

To overcome the sensor system problem of fault diagnosis and signal recovery for autonomous underwater vehicle (AUV), a method based on strong tracking filter (STF) theory and singer model of first order time correlation function was proposed. The STF-Singer model by combining the signal processing method and STF method dose not need the accurate mathematical model of the controlled plant, and it has good identification capacity for AUV sensor faults. Computer simulations using experimental data from an AUV sea trail show that the proposed method is effective and feasible.