IMU Fault Detection Based on 𝜒²-CUSUM

Table 2

Fault detection delay as a function of fault magnitude given in number of samples with respect to the parameters 𝑏=3.5 and 𝜆=30.

Step fault	1st MF delay	2nd MF delay	Detection	Total delay
(°/s)	(MF3)	(MF11)	delay	(𝑡𝑎−𝑡0)
0.10	1	5	430	436
0.15	1	5	54	60
0.20	1	5	9	15
0.30	1	5	4	10