Reference for citation: Galkina D. A., Margun А. А. Algorithm for detecting failures of an inertial navigation system on an unmanned surface vessel. Journal of Instrument Engineering. 2024. Vol. 67, N 1. P. 70—79 (in Russian). DOI: 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

Acknowledgement: the work was supported by the Russian Science Foundation, grant No. 23-79-10071; https://rscf.ru/project/23-79-10071/.

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