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><svg height="20.5625" id="M155" style="vertical-align:-3.7947pt" version="1.1" viewbox="0 0 16.35 20.5625" width="16.35" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,15.775)"><use xlink:href="#x1D712"></use></g>
<g transform="matrix(.012,-0,0,-.012,9.95,7.613)"><use xlink:href="#x32"></use></g>
</svg>-CUSUM results for 20000 samples of a movement sequence without faults with (SNR) <svg height="12.4375" id="M156" style="vertical-align:-0.1638pt" version="1.1" viewbox="0 0 47.712502 12.4375" width="47.712502" 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><g transform="matrix(.017,-0,0,-.017,12.744,12.162)"><path d="M535 323h-483v50h483v-50zM535 138h-483v50h483v-50z" id="x3D"></path></g><g transform="matrix(.017,-0,0,-.017,27.447,12.162)"><use xlink:href="#x30"></use></g><g transform="matrix(.017,-0,0,-.017,35.607,12.162)"><use xlink:href="#x2E"></use></g><g transform="matrix(.017,-0,0,-.017,39.483,12.162)"><use xlink:href="#x31"></use></g>
</svg>. (a) PV; (b) <svg height="19.9375" id="M157" style="vertical-align:-3.39066pt" version="1.1" viewbox="0 0 14.8875 19.9375" width="14.8875" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(1.25,0,0,-1.25,90,90)">
<path d="m -71.95,70.93 6.53,0" style="fill:none;stroke:#000000;stroke-width:0.68000001;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path>
</g>
<g transform="matrix(.017,-0,0,-.017,.062,15.65)"><path d="M457 488l-30 -3q-17 148 -131 148q-53 0 -84.5 -34.5t-31.5 -82.5q0 -42 25.5 -72t74.5 -62l33 -22q63 -42 95 -85t32 -102q0 -84 -67 -137t-163 -53q-58 0 -113 22t-70 43l-4 152l27 4q4 -32 15 -62.5t31 -59.5t53.5 -47t76.5 -18q56 0 92 35t36 96q0 39 -25 70t-78 68
l-31 22q-32 23 -53.5 41.5t-45 57t-23.5 77.5q0 82 58 132.5t156 50.5q46 0 101 -17l18.5 -6t17 -6t8.5 -3q-4 -55 0 -147z" id="x1D446"></path></g>
<g transform="matrix(.012,-0,0,-.012,8.225,19.725)"><path d="M480 416q0 -21 -18 -41q-9 -11 -17 -7q-20 9 -42 9q-62 0 -140 -78q23 -69 88 -192q17 -31 27 -42t20 -11q16 0 62 46l17 -20q-64 -92 -119 -92q-35 0 -70 66q-41 73 -84 187q-36 -30 -62 -61q-27 -115 -35 -172q-41 -8 -78 -20l-6 6l140 612q7 28 0.5 34t-37.5 7l-34 1
l5 26q38 4 74 13.5t57 17t25 7.5q12 0 4 -32l-104 -443h2q35 38 97 93q39 35 65.5 56t62 41.5t58.5 20.5q19 0 30.5 -10t11.5 -22z" id="x1D458"></path></g>
</svg>; (c) <svg height="19.237499" id="M158" style="vertical-align:-3.39066pt" version="1.1" viewbox="0 0 14.8875 19.237499" width="14.8875" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,9.025,11.25)"><path d="M-70 658q-1 -61 -39.5 -93.5t-102.5 -32.5t-102 32.5t-39 93.5h30q21 -69 111 -69q91 0 112 69h30z" id="x306"></path></g><g transform="matrix(.017,-0,0,-.017,.062,14.95)"><use xlink:href="#x1D446"></use></g>
<g transform="matrix(.012,-0,0,-.012,8.225,19.037)"><use xlink:href="#x1D458"></use></g>
</svg>; (d) <svg height="12.175" id="M159" style="vertical-align:-3.56265pt" version="1.1" viewbox="0 0 16.4 12.175" width="16.4" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,7.675)"><path d="M546 430q-14 -33 -37.5 -140t-38.5 -209q-29 -195 -156 -289q-29 -21 -70 -37t-78 -16q-62 0 -102.5 37t-40.5 69q0 27 26 48q19 15 25 -3q13 -43 46.5 -69t87.5 -26q55 0 83 21q29 22 50 65t43 140q14 64 29 163h-2q-55 -81 -149 -152q-59 -44 -102 -44q-23 0 -43.5 30
t-20.5 85q0 74 32.5 145.5t84.5 117.5q40 35 100 58.5t117 23.5q21 0 65 -8q30 -6 44 -6zM456 386q-40 16 -81 16q-29 0 -64 -13q-42 -17 -85 -97q-19 -36 -31.5 -86t-12.5 -86q0 -64 30 -64q20 0 52.5 21t60.5 52q74 81 95 123q26 62 36 134z" id="x1D454"></path></g>
<g transform="matrix(.012,-0,0,-.012,9.738,11.762)"><use xlink:href="#x1D458"></use></g>
</svg>.</table>

Mathematical Problems in Engineering

fig5

Figure 5

Figure 5: 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 5

IMU Fault Detection Based on -CUSUM