Research Article

IMU Fault Detection Based on 𝜒 2 -CUSUM

Figure 7

PV with step fault for sample 10000. (a) PV nonfiltered (red) and filtered by MF of size 11 (blue); (b) PV filtered by MF of size 11 (blue) and by FExp with (red); the zoom in (b) indicates the difference between MF and FExp during the transition time.
740752.fig.007a
(a)
740752.fig.007b
(b)