IMU Fault Detection Based on <svg style="vertical-align:-3.636pt;width:23.950001px;" id="M1" height="24.225" version="1.1" viewBox="0 0 23.950001 24.225" width="23.950001"  xmlns="http://www.w3.org/2000/svg">
	<g transform="matrix(1.25,0,0,-1.25,0,24.225)">
		<g transform="translate(72,-52.62)">
			<text transform="matrix(1,0,0,-1,-71.95,56.29)">
				<tspan style="font-size: 17.93px; " x="0" y="0">𝜒</tspan>
			</text>

			<text transform="matrix(1,0,0,-1,-59.67,63.46)">
				<tspan style="font-size: 12.55px; " x="0" y="0">2</tspan>
			</text>

		</g>
	</g>
</svg>-CUSUM

<table>Ratios for <svg height="12.4375" id="M154" style="vertical-align:-0.1638pt" version="1.1" viewbox="0 0 8.1000004 12.4375" width="8.1000004" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,12.162)"><use xlink:href="#x1D44F"></use></g>
</svg> varying from 0.1 to 5.</table>

Mathematical Problems in Engineering

fig4

Figure 4

Figure 4: IMU Fault Detection Based on <svg style="vertical-align:-3.636pt;width:23.950001px;" id="M1" height="24.225" version="1.1" viewBox="0 0 23.950001 24.225" width="23.950001"  xmlns="http://www.w3.org/2000/svg">
	<g transform="matrix(1.25,0,0,-1.25,0,24.225)">
		<g transform="translate(72,-52.62)">
			<text transform="matrix(1,0,0,-1,-71.95,56.29)">
				<tspan style="font-size: 17.93px; " x="0" y="0">𝜒</tspan>
			</text>

			<text transform="matrix(1,0,0,-1,-59.67,63.46)">
				<tspan style="font-size: 12.55px; " x="0" y="0">2</tspan>
			</text>

		</g>
	</g>
</svg>-CUSUM 

Mathematical Problems in Engineering

IMU Fault Detection Based on 𝜒 2 -CUSUM

Figure 4

IMU Fault Detection Based on -CUSUM