Intelligent Vehicle Embedded Sensors Fault Detection and Isolation Using Analytical Redundancy and Nonlinear Transformations

Table 1

Mean quadratic error value for different fault characteristics depending on the estimation method.

Simulation parameters	Method 1	Method 2	Method 3
No faults
Bias, 0.1 m/s^2 on one measurement
Bias, 0.3 m/s^2
Bias, 0.5 m/s^2
Scale factor, 0.9
Scale factor, 0.7
Scale factor, 0.5
Stuck at the last recorded value