Fault Detection and Isolation in Inertial Measurement Units Based on <svg     style="vertical-align:-5.004pt;width:21.325001px;" id="M1" height="27.075001" version="1.1" viewBox="0 0 21.325001 27.075001" width="21.325001"  xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg">
	
		
			<g transform="matrix(.022,-0,0,-.022,.062,20.788)"><path id="x1D712" d="M565 434q-29 -30 -107.5 -131t-125.5 -168q22 -126 55 -265q8 -35 12.5 -45.5t11.5 -10.5q26 0 76 59l23 -23q-77 -111 -134 -111q-42 0 -63 96l-43 222q-148 -211 -219 -335h-10q-30 45 9 103l209 291q-27 155 -42 214q-7 27 -11.5 35.5t-12.5 8.5q-19 0 -62 -57l-21 21
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</svg>-CUSUM and Wavelet Packet

<table>2D example of the null space projection distances of the pseudo-energy vectors.</table>

Mathematical Problems in Engineering

fig4

Figure 4

Figure 4: Fault Detection and Isolation in Inertial Measurement Units Based on <svg     style="vertical-align:-5.004pt;width:21.325001px;" id="M1" height="27.075001" version="1.1" viewBox="0 0 21.325001 27.075001" width="21.325001"  xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg">
	
		
			<g transform="matrix(.022,-0,0,-.022,.062,20.788)"><path id="x1D712" d="M565 434q-29 -30 -107.5 -131t-125.5 -168q22 -126 55 -265q8 -35 12.5 -45.5t11.5 -10.5q26 0 76 59l23 -23q-77 -111 -134 -111q-42 0 -63 96l-43 222q-148 -211 -219 -335h-10q-30 45 9 103l209 291q-27 155 -42 214q-7 27 -11.5 35.5t-12.5 8.5q-19 0 -62 -57l-21 21
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</svg>-CUSUM and Wavelet Packet 

Mathematical Problems in Engineering

Fault Detection and Isolation in Inertial Measurement Units Based on -CUSUM and Wavelet Packet

Figure 4