An IMU Fault Diagnosis and Information Reconstruction Method Based on Analytical Redundancy for Autonomous Underwater Vehicle

IMU fault diagnosis and information reconstruction are important to the safety of the autonomous underwater vehicle. To improve the fault tolerance of AUV to IMU faults, an IMU fault diagnosis and information reconstruction method based on the analytical redundancy is proposed in this paper. First, the IMU analytical method is constructed with the help of the autonomous underwater vehicle kinematic model, and the analytical relationship between IMU signal and innovation is given. Next, the t-test method and decoupling matrix method are designed to get fault diagnosis results for gyroscopes and accelerometers. Furthermore, the IMU fault estimation method based on innovation has been designed to estimate IMU faults and realize IMU signal reconstruction. The experiment results demonstrate the effectiveness and efficiency of the proposed method, showing its feasibility for IMU faults.