导航传感器故障检测策略

为了提高故障检测灵敏度，分析了通常的故障检测中难以兼顾虚警概率和漏检概率的原因和船舶组合导航系统故障检测过程中噪声与故障对检测量的影响。根据船舶组合导航系统故障检测的特点，提出了以模糊逻辑和指数加权平均处理检测量和阈值的故障检测策略，并用实船航行数据仿真。该策略对未知输入等干扰不敏感而对故障敏感，且可根据故障的大小自动调节检测时间的长短。对不易检测的小故障，自动延长检测时间以利用更多的信息从而提高检测的正确率；对于较大的故障，自动缩短检测时间从而减少检测延时和累积误差，起到了自适应检测时间窗的作用。

Navigation Sensor Failure Detecting Tactic

A certain kind of failure detecting tactic based on fuzzy logic and exponent-weighted average was brought forward in order to improve failure detection with high noises. And simulation was performed with real stabilized gyrocompass readings during a voyage. The failure detection tactic is sensitivie to errors other than disturbance such as system's unknown input. Furthermore, the tactic may adjust the length of detection time adaptively. When the error magnitude is small and intermixed with noises, the tactic increases the detection time to make use of more information, which results in higher probability of correct detection. When the error magnitude is bigger, the tactic decreases the detection time, consequently the detecting delay is decreased and the error accumulation is reduced.