Design of a Fault Detection and Isolation System for Intelligent Vehicle Navigation System

Table 1

Sensor measurements in Smart.

Sensor	Signals	Definition	Noise	Bias
DGPS	LONG	position	10 m^2	—
	LAT	position	10 m^2	—
		Heading	0.4 rad^2	—
ACC		acc	0.02
		acc	0.03
GYRO		Yaw rate	(rad/s)^2	rad/s
ODO		Wheel spd	(m/s)^2