Observer and IMU-based Detection of Faults in Position Reference Systems and Gyrocompasses with Dual Redundancy in Dynamic Positioning
Journal article, Peer reviewed
Permanent lenke
http://hdl.handle.net/11250/2393377Utgivelsesdato
2014Metadata
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Originalversjon
Proceedings of the IEEE Conference on Control Applications 2014 10.1109/CCA.2014.6981333Sammendrag
Faults in position reference systems and vessel
sensors pose a serious hazard during dynamic positioning,
and vessel drive-offs because of erroneous data may have dire
consequences. The classification society standards require triple
redundancy in heading and position reference systems, but
common mode failures and operational limitations could put
the safety promised by the redundancy at risk. In this paper we
present a way to detect and isolate faults in the aforementioned
systems, using nonlinear observers and inertial measurement
units (IMUs). Employing IMU acceleration and gyro data in
an integration filter, and comparing estimation error outputs
from multiple observers in parallel proves to be a viable method
for fault detection and isolation. This exploits the possibility of
using IMUs as another, independent position reference system
or sensor on board a vessel.