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">
	
		
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</svg>-CUSUM and Wavelet Packet

<table>PFA, PMD and CD results for seven different wavelet families applied to gyro <svg height="13.0625" id="M209" style="vertical-align:-1.7199pt" version="1.1" viewbox="0 0 19.7875 13.0625" width="19.7875" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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</svg> data, considering the following parameters: <svg height="12.4375" id="M210" style="vertical-align:-0.1638pt" version="1.1" viewbox="0 0 85.3125 12.4375" width="85.3125" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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</svg>; <svg height="15.7" id="M211" style="vertical-align:-3.56265pt" version="1.1" viewbox="0 0 34.900002 15.7" width="34.900002" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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</svg>; <svg height="16.3125" id="M212" style="vertical-align:-3.27599pt" version="1.1" viewbox="0 0 100.5125 16.3125" width="100.5125" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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<g transform="matrix(.017,-0,0,-.017,65.55,12.162)"><path d="M535 323h-483v50h483v-50zM535 138h-483v50h483v-50z" id="x3D"></path></g><g transform="matrix(.017,-0,0,-.017,80.237,12.162)"><path d="M241 635q53 0 94 -28.5t63.5 -76t33.5 -102.5t11 -116q0 -58 -11 -112.5t-34 -103.5t-63.5 -78.5t-94.5 -29.5t-95 28t-64.5 75t-34.5 102.5t-11 118.5q0 58 11.5 112.5t34.5 103t64.5 78t95.5 29.5zM238 602q-32 0 -55.5 -25t-35.5 -68t-17.5 -91t-5.5 -105
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</svg>°/s.</table>

Mathematical Problems in Engineering

fig8

Figure 8

Figure 8: 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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			<g transform="matrix(.016,-0,0,-.016,13.113,10.025)"><path id="x32" d="M412 140l28 -9q0 -2 -35 -131h-373v23q112 112 161 170q59 70 92 127t33 115q0 63 -31 98t-86 35q-75 0 -137 -93l-22 20l57 81q55 59 135 59q69 0 118.5 -46.5t49.5 -122.5q0 -62 -29.5 -114t-102.5 -130l-141 -149h186q42 0 58.5 10.5t38.5 56.5z" /></g>

		
	
</svg>-CUSUM and Wavelet Packet 

Mathematical Problems in Engineering

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

Figure 8