Diagnostics of Onboard Information Processing and Control Systems of Autonomous Underwater Vehicles

Abstract

the issues of diagnosing onboard complex information processing and control systems are considered. Components of complex systems are allocated to the levels of complexity, and the diagnostic tools are developed individually for each level, for example, the levels of distributed computer systems, local systems, dynamic units, etc. Functional and test-based diagnostic methods for fault detection and isolation based on dynamic models are proposed and investigated on different levels of system complexity. In particular, for the level of distributed computing systems, failures in the addressing of intermodule exchanges are considered, and for the level of dynamic devices, hardware parametric failures in presence of external disturbances are simulated. The implementation of the proposed methods is illustrated by an example of their application to a navigation system of an autonomous underwater vehicle.