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Mathematical Problems in Engineering
Volume 2012, Article ID 740752, 15 pages
Research Article

IMU Fault Detection Based on 𝜒 2 -CUSUM

1Space Systems Division, Institute of Aeronautics and Space (IAE), 12.228-904 São José dos Campos, SP, Brazil
2Mechanic and Control Division, National Institute for Space Research (INPE), 12.227-010 São José dos Campos, SP, Brazil

Received 16 December 2011; Accepted 1 February 2012

Academic Editor: Tadashi Yokoyama

Copyright © 2012 Élcio Jeronimo de Oliveira et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The problem of fault detection and isolation (FDI) on inertial measurement units (IMUs) has received great attention in the last years, mainly with growing use of IMU strapdown platforms using fiber optic gyros (FOG) or micro electro mechanical systems (MEMSs). A way to solve this problem makes use of sensor redundancy and parity vector (PV) analysis. However, the actual sensor outputs can include some anomalies, as impulsive noise which can be associated with the sensors itself or data acquisition process, committing the elementary threshold criteria as commonly used. Therefore, to overcome this problem, in this work, it is proposed an algorithm based on median filter (MF) for prefiltering and chi-square cumulative sum ( 𝜒 2 -CUSUM) only for fault detection (FD) applied to an IMU composed by four FOGs.