Fault Detection and Isolation in Inertial Measurement Units Based on 𝜒²-CUSUM and Wavelet Packet

Figure 5

Scatter plot of 200 projections. (a) Rotation (𝐔)^𝑇𝐄; (b) normalized rotation (𝐔̆)^𝑇𝐄̆; (c) Parity space projection 𝐏𝐄; and (d) normalized Parity space projection 𝐏̆𝐄̆.

(a)

(b)

(c)

(d)