Real-Time Anomaly Detection in Underwater Gliders: Anomaly Detection Algorithm
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Authors:
(1) Ruochu Yang;
(2) Chad Lembke;
(3) Fumin Zhang;
(4) Catherine Edwards.
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Table of Links
Abstract and Intro
Anomaly Detection Algorithm
Experimental Evaluation
Conclusion and References
II. ANOMALY DETECTION ALGORITHM
The pipeline of anomaly detection and false alarm elimination is shown in Fig. 1. By generating the glider speed estimate, the algorithm assumes no anomaly if the estimate is within the normal speed range. Otherwise, the glider may be encountering issues. The flow speed estimate is checked against the glider-estimated flow speed to circumvent any false alarm.
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We model the glider dynamics as follows:
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where θ is the unknown parameter to be estimated,
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This paper is available on arxiv under CC 4.0 license.
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