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="M160" 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="M161" 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)"><use xlink:href="#x3D"></use></g><g transform="matrix(.017,-0,0,-.017,27.447,12.162)"><path d="M285 378v-2q65 -13 102 -54.5t37 -97.5q0 -57 -30.5 -104.5t-74 -75t-85.5 -42t-72 -14.5q-31 0 -59.5 11t-40.5 23q-19 18 -16 36q1 16 23 33q13 10 24 0q58 -51 124 -51q55 0 88 40t33 112q0 64 -39 96.5t-88 32.5q-29 0 -64 -11l-6 29q77 25 118 57.5t41 84.5
q0 45 -26.5 69.5t-68.5 24.5q-67 0 -120 -79l-20 20l43 63q51 56 127 56h1q66 0 107 -37t41 -95q0 -42 -31 -71q-22 -23 -68 -54z" id="x33"></path></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="#x35"></use></g>
</svg>. (a) PV; (b) <svg height="19.9375" id="M162" 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)"><use xlink:href="#x1D446"></use></g>
<g transform="matrix(.012,-0,0,-.012,8.225,19.725)"><use xlink:href="#x1D458"></use></g>
</svg>; (c) <svg height="19.237499" id="M163" 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)"><use xlink:href="#x306"></use></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="M164" 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)"><use xlink:href="#x1D454"></use></g>
<g transform="matrix(.012,-0,0,-.012,9.738,11.762)"><use xlink:href="#x1D458"></use></g>
</svg>.</table>

Mathematical Problems in Engineering

fig6

Figure 6

Figure 6: 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 6

IMU Fault Detection Based on -CUSUM