Method for diagnosing faults of sensor of underwater robot
A sensor failure, underwater robot technology, applied in the direction of instruments, etc., can solve the problem of less research on the status monitoring of underwater robot sensor systems, and achieve the effect of improving detection accuracy and applicability
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[0020] The present invention will be further described below in conjunction with the accompanying drawings.
[0021] The technical solution adopted by the present invention is that the sensor failure of the underwater robot is in the state space ( figure 2 ) are described by eigenvectors. The detection system randomly generates initial antibodies—initial fault detectors, and through further antigenic stimulation, that is, feature matching, the initial antibodies mutate and mature, that is, they become detectors with comprehensive detection of sensor faults. On the one hand, a mature antibody-complete fault detector can be used for abnormal detection of equipment working status; on the other hand, a mature antibody memorizes the characteristics of data patterns in different abnormal working states of the system, and further classifies these patterns or " Marking", the results can be applied to the diagnosis of the working state of the sensor system of the underwater robot.
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