Fault Detection and Isolation in Inertial Measurement Units Based on <svg     style="vertical-align:-5.004pt;width:21.325001px;" id="M1" height="27.075001" version="1.1" viewBox="0 0 21.325001 27.075001" width="21.325001"  xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg">
	
		
			<g transform="matrix(.022,-0,0,-.022,.062,20.788)"><path id="x1D712" d="M565 434q-29 -30 -107.5 -131t-125.5 -168q22 -126 55 -265q8 -35 12.5 -45.5t11.5 -10.5q26 0 76 59l23 -23q-77 -111 -134 -111q-42 0 -63 96l-43 222q-148 -211 -219 -335h-10q-30 45 9 103l209 291q-27 155 -42 214q-7 27 -11.5 35.5t-12.5 8.5q-19 0 -62 -57l-21 21
q73 110 126 110q18 0 31.5 -22.5t19.5 -52.5l35 -184l160 234l74 25z" /></g>

			<g transform="matrix(.016,-0,0,-.016,13.113,10.025)"><path id="x32" d="M412 140l28 -9q0 -2 -35 -131h-373v23q112 112 161 170q59 70 92 127t33 115q0 63 -31 98t-86 35q-75 0 -137 -93l-22 20l57 81q55 59 135 59q69 0 118.5 -46.5t49.5 -122.5q0 -62 -29.5 -114t-102.5 -130l-141 -149h186q42 0 58.5 10.5t38.5 56.5z" /></g>

		
	
</svg>-CUSUM and Wavelet Packet

<table>Normalized parity space tridimensional projection of the sensor (gyro <svg height="13.0625" id="M197" style="vertical-align:-1.7199pt" version="1.1" viewbox="0 0 19.7875 13.0625" width="19.7875" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,10.862)"><path d="M624 398l-8 -50h-120l-40 -185h112l-8 -50h-115l-52 -239h-59l51 239h-148l-52 -239h-59l53 239h-126l9 50h128l41 185h-121l8 50h124l47 214h59l-48 -214h149l46 214h59l-47 -214h117zM439 348h-148l-40 -185h147z" id="x23"></path></g><g transform="matrix(.017,-0,0,-.017,11.571,10.862)"><path d="M412 140l28 -9q0 -2 -35 -131h-373v23q112 112 161 170q59 70 92 127t33 115q0 63 -31 98t-86 35q-75 0 -137 -93l-22 20l57 81q55 59 135 59q69 0 118.5 -46.5t49.5 -122.5q0 -62 -29.5 -114t-102.5 -130l-141 -149h186q42 0 58.5 10.5t38.5 56.5z" id="x32"></path></g>
</svg>) noise (black) and step bias fault (red) decomposed by wavelet packet db4 at level <svg height="15.7" id="M198" style="vertical-align:-3.56265pt" version="1.1" viewbox="0 0 34.900002 15.7" width="34.900002" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.2)"><path d="M394 607q0 -25 -15.5 -43t-39.5 -18q-19 0 -32 13t-13 35t16 41.5t40 19.5q20 0 32 -13.5t12 -34.5zM360 349l-57 -283q-38 -188 -122 -263q-72 -64 -114 -64q-16 0 -30 10.5t-14 22.5q0 24 21 45q15 13 26 6q30 -20 54 -20q41 0 65 95q37 147 86 415q6 34 6.5 42.5
t-5.5 11.5q-18 0 -79 -54l-14 25q48 48 96.5 79t71.5 31q29 0 9 -99z" id="x1D457"></path></g><g transform="matrix(.017,-0,0,-.017,11.962,11.2)"><path d="M535 323h-483v50h483v-50zM535 138h-483v50h483v-50z" id="x3D"></path></g><g transform="matrix(.017,-0,0,-.017,26.666,11.2)"><path d="M285 378v-2q65 -13 102 -54.5t37 -97.5q0 -57 -30.5 -104.5t-74 -75t-85.5 -42t-72 -14.5q-31 0 -59.5 11t-40.5 23q-19 18 -16 36q1 16 23 33q13 10 24 0q58 -51 124 -51q55 0 88 40t33 112q0 64 -39 96.5t-88 32.5q-29 0 -64 -11l-6 29q77 25 118 57.5t41 84.5
q0 45 -26.5 69.5t-68.5 24.5q-67 0 -120 -79l-20 20l43 63q51 56 127 56h1q66 0 107 -37t41 -95q0 -42 -31 -71q-22 -23 -68 -54z" id="x33"></path></g>
</svg> with <svg height="11.075" id="M199" style="vertical-align:-0.1638pt" version="1.1" viewbox="0 0 17.887501 11.075" width="17.887501" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,10.8)"><path d="M456 178h-96v-72q0 -51 12.5 -62.5t72.5 -16.5v-27h-256v27q65 5 78 17t13 62v72h-260v28q182 271 300 426h40v-407h96v-47zM280 225v295h-2q-107 -148 -196 -295h198z" id="x34"></path></g><g transform="matrix(.017,-0,0,-.017,8.222,10.8)"><path d="M548 455q-32 -77 -74 -77q-37 0 -103 10l-3 -2q36 -30 48.5 -62t12.5 -80q0 -103 -75 -179.5t-175 -76.5q-70 0 -113 45t-43 128q0 115 83.5 200.5t209.5 85.5q31 0 77.5 -4t67.5 -4q36 0 62 30zM350 274q0 54 -17 86q-19 35 -57 35q-50 0 -90 -37.5t-59 -91.5t-19 -109
q0 -61 24.5 -96.5t65.5 -35.5q51 0 87.5 46.5t50.5 100.5t14 102z" id="x1D70E"></path></g>
</svg> spherical threshold.</table>

Mathematical Problems in Engineering

fig7

Figure 7

Figure 7: Fault Detection and Isolation in Inertial Measurement Units Based on <svg     style="vertical-align:-5.004pt;width:21.325001px;" id="M1" height="27.075001" version="1.1" viewBox="0 0 21.325001 27.075001" width="21.325001"  xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg">
	
		
			<g transform="matrix(.022,-0,0,-.022,.062,20.788)"><path id="x1D712" d="M565 434q-29 -30 -107.5 -131t-125.5 -168q22 -126 55 -265q8 -35 12.5 -45.5t11.5 -10.5q26 0 76 59l23 -23q-77 -111 -134 -111q-42 0 -63 96l-43 222q-148 -211 -219 -335h-10q-30 45 9 103l209 291q-27 155 -42 214q-7 27 -11.5 35.5t-12.5 8.5q-19 0 -62 -57l-21 21
q73 110 126 110q18 0 31.5 -22.5t19.5 -52.5l35 -184l160 234l74 25z" /></g>

			<g transform="matrix(.016,-0,0,-.016,13.113,10.025)"><path id="x32" d="M412 140l28 -9q0 -2 -35 -131h-373v23q112 112 161 170q59 70 92 127t33 115q0 63 -31 98t-86 35q-75 0 -137 -93l-22 20l57 81q55 59 135 59q69 0 118.5 -46.5t49.5 -122.5q0 -62 -29.5 -114t-102.5 -130l-141 -149h186q42 0 58.5 10.5t38.5 56.5z" /></g>

		
	
</svg>-CUSUM and Wavelet Packet 

Mathematical Problems in Engineering

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

Figure 7