水下无人系统学报2026，Vol.34Issue(1)：157-166,10.DOI:10.11993/j.issn.2096-3920.2025-0156
一种故障检测与抗差估计协同的AUV容错导航算法
A Fault-Tolerant Navigation Algorithm for AUVs Based on Collaborative Fault Detection and Robust Estimation
肖睿彬 1马铁锋 1胡友峰1
作者信息
- 1. 中国船舶集团有限公司 第七〇五研究所,云南 昆明,650106
- 折叠
摘要
Abstract
In the integrated navigation system of autonomous undersea vehicles(AUVs),traditional adaptive filtering algorithms struggle to achieve effective fault tolerance against slowly varying faults of the Doppler velocity log(DVL)due to the conflict between noise estimation and fault detection mechanisms.To address this issue,this paper proposed a collaborative fault-tolerant navigation method fusing a long short-term memory(LSTM)network-based fault detection with a variational Bayesian adaptive Kalman filter(VBAKF)and IGG-III robust filtering.The proposed method utilized the LSTM network to effectively identify the early characteristics of slowly varying faults.Upon fault confirmation,the filter switched from the VBAKF to the IGG-III robust filtering mode and dynamically constructed equivalent weight matrices to suppress the influence of faulty measurements.After the fault ended,the VBAKF was restored to maintain optimal estimation.Experimental results demonstrate that in the event of DVL slowly varying faults,the proposed method achieves higher navigation accuracy than several mainstream filtering algorithms,effectively suppresses state estimation distortion,and enhances the positioning precision and robustness of the integrated navigation system of AUVs in uncertain underwater environments.关键词
自主水下航行器/容错导航算法/组合与导航/长短期记忆/卡尔曼滤波/抗差估计Key words
autonomous underwater sea/fault-tolerant navigation algorithm/integrated navigation/long short-term memory/Kalman filter/robust estimation分类
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肖睿彬,马铁锋,胡友峰..一种故障检测与抗差估计协同的AUV容错导航算法[J].水下无人系统学报,2026,34(1):157-166,10.
