Abstract Micro Electro Mechanical System (MEMS) gyroscope sensors are used in different underwater vehicles to determine their attitude as the input of the controller system to adjust the attitude to the desired value. Fault detection and elimination are necessary for MEMS gyroscope sensors to avoid disruption of the system performance. In this paper, it is tried to study different types of gyroscope sensor faults which can be detected and eliminated by designing a new proposed dynamic redundancy scheme. The proposed method is consisted of two MEMS gyroscope sensors and is modified by considering underwater robot dynamics in threshold tuning via Monte Carlo simulations. The switch between the primary and secondary gyroscope sensors is designed by smoothing methods to eliminate undesirable behavior of switching kick. Finally, numerical and experimental simulations are performed by a three degree of freedom table to show that the proposed method is efficient for the underwater robot exposed to gyroscope sensor faults.

中文翻译：

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平滑切换与动态冗余相结合的水下机器人MEMS陀螺仪故障检测与消除

摘要 微机电系统（MEMS）陀螺仪传感器用于不同的水下航行器中，确定其姿态作为控制器系统的输入，将姿态调整到所需值。MEMS陀螺仪传感器必须进行故障检测和消除，以避免系统性能中断。在本文中，试图通过设计一种新的动态冗余方案来研究可以检测和消除的不同类型的陀螺仪传感器故障。所提出的方法由两个 MEMS 陀螺仪传感器组成，并通过蒙特卡罗模拟在阈值调整中考虑水下机器人动力学进行修改。主要和次要陀螺仪传感器之间的切换是通过平滑方法设计的，以消除不希望的切换突跳行为。最后，