Fault_Diagnosis_for_AUV

The dataset contains 1225 data samples for 5 fault types (labels). We divided the dataset into the training set and the test set through random stratified sampling. The test set accounted for 20% of the total dataset. Our experimental subject is `Haizhe', which is a small quadrotor AUV developed in the laboratory. For each fault type, `Haizhe' was tested several times. For each time, `Haizhe' ran the same program and sailed underwater for 10-20 seconds to ensure that state data was long enough. The state data recorded in each test were then used as a data sample, and the corresponding fault type was the true label of the data sample. The dataset was used to validate a model-free fault diagnosis method proposed in our paper (DOI:https://doi.org/10.1016/j.oceaneng.2021.108874)

本数据集涵盖针对5类故障类型（标签）的1225条数据样本。我们通过随机分层抽样将数据集划分为训练集与测试集，其中测试集占总数据集的20%。本次实验的载体为“海蜇”（Haizhe），即本实验室研发的小型四旋翼自主水下航行器（quadrotor AUV）。针对每一类故障类型，“海蜇”均进行了多次测试：每次测试中，“海蜇”均运行同一程序并在水下航行10至20秒，以确保状态数据具备足够的时长。将每次测试中记录的状态数据作为一条数据样本，其对应的故障类型即为该样本的真实标签。本数据集用于验证本文提出的无模型故障诊断方法（DOI：https://doi.org/10.1016/j.oceaneng.2021.108874）

搜集汇总

背景与挑战

背景概述

该数据集专注于自主水下航行器（AUV）的故障诊断，包含1225个数据样本，覆盖5种故障类型，并通过随机分层抽样分为训练集和测试集。数据来源于实验室开发的'Haizhe'四旋翼AUV，每个样本对应一次水下测试运行，用于验证无模型故障诊断方法，适用于系统故障诊断研究。