中文摘要：

针对OUTLAND1000无人水下机器人,采用自适应滤波器FIR对水下机器人进行在线自适应建模,利用LMS算法调节和分析滤波器的权系数实时监测水下机器人传感器的故障。以单片机C8051F120为核心设计故障检测器,数据采集和控制信号通过设计的键盘发送给机器人,传感器数据通过RS—232传送到控制器进行数据分析,并在液晶上显示出相应的故障检测结果。

英文摘要：

An adaptive FIR（finite impulse response） filter was used to construct an on-line adaptive model for the OUTLAND1000 UUV（unmanned underwater vehicles）.The fault of UUV sensors can be monitored by regulating and analyzing the weights of the filter by using LMS algorithm.This fault detection instrument for UUV sensors was designed by using the C8051F120 chip.The signals of data acquisition and control were sent by the designed keyboard to the UUV.The data of sensors were transmitted to the controller by RS-232,and the results of fault detection and tolerance were displayed in the LCD.