ࡱ> ~[ Rbjbjΐΐe;zU. . w  %%%DiiiiZZ1L }&}&}&&88 8XXXXXXX$q\_X%8q8q8^88X}&&Y JJJ8z}&l}&:XJ8XJJU,PV}&`{isGhUXY<ZU`I`(PVPVh`%V88J88888XXJ888Z8888`888888888.  =:  WNpprKmTKIDyphKmvAUVEeʋe hT` 1,2 3, svf2, Z3 Nwmwm m'Yf[ ] zf[b Nwm 201306 2l3^Q{'Yf[ Oo`Nc6R] zf[b [ l3 110168 3. Nwmm nyf[] zb/gxvz-N_ Nwm 201306 XdcؚEeʋeR[NnxO4l N:ghVNAUV|~v3z[ЏLwQ g͑aIN0[4l N:ghVNcۏhV|~ cQNyWNyphKmvAUVEehKmel0HQ \ OahVǑƖvpencۏLpprKmYt6qT cQNNy~TK-meanTDBSCANv9eۏNZ{|Iterative K-mean DBSCAN IKD {lۏLyphKmgT NK-meanTDBSCAN{lvk Nw[~ghfWNpprKmTKIDyphKm{lvEehKmQnxsؚ Y gHe0W[s4l N:ghVNAUVvevcwEeʋe0 sQ.͋yphKm;pprKm;EehKm;4l N:ghVN -NVR{|STP306 e.shƋxA Outlier Detection Algorithm Based on Gray Prediction and KID for AUV Fault Diagnosis Zhou Yue1,2,3 Wang Haoming2 Guo Wei3 (1. 1.College of Engineering Science and Technology, Shanghai Ocean University, Shanghai 201306, China 2.School of Information and Control Engineering, Shenyang Jianzhu University, Shenyang 110168, China 3. Engineering Research Center of Hadal Science and Technology, Shanghai 201306, China) Abstract: It is very important to improve the fault diagnosis ability to ensure the stable operation of the autonomous underwater vehicle (AUV) system. A fault detection method based on detection is proposed in this paper for AUV propeller system. Firstly, the gray prediction algorithm is used to complete data preprocessing for the data collected by sensors. Secondly, an improved iterative clustering algorithm combining K-mean with is put forward to detect outliers. Finally, the simulation results demonstrate the outlier detection algorithm based on gray prediction and KID has higher accuracy, compared with K-mean and DBSCAN algorithms, which could implement a comprehensive unsupervised fault diagnosis of AUV. 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