Fault Detection and Isolation in Inertial Measurement Units Based on 𝜒²-CUSUM and Wavelet Packet

Table 2

Validation results using the parameters obtained in the calibration over a different data set. Parameters: buffer = 64; WP db6; 𝑗=3; step bias fault = 0,6°/s; 𝑃̌ given by (A.5)–(A.8).

gyro	%	Run										Mean
		r1	r2	r3	r4	r5	r6	r7	r8	r9	r10
#1	PFA	2,6316	2,6316	2,6316	2,6316	2,6316	2,6316	2,6316	2,6316	2,6316	2,6316	2,6316
	PMD	0,2506	0,2506	0,2506	0,2506	0,2506	0,5013	0,1253	0	0,5013	0,3759	0,2757
	CD	99,7494	99,7494	99,7494	99,7494	99,7494	99,4987	99,8747	100	99,4987	99,6241	99,7243 ± 0,1541
#2	PFA	1,8797	1,8797	1,8797	1,8797	1,8797	1,8797	1,8797	1,8797	1,8797	1,8797	1,8797
	PMD	0,3760	0,5013	0,5013	0,6266	0,6266	0,3760	0,5013	0,6266	0,6266	0,8772	0,5640
	CD	99,6241	99,4987	99,4987	99,3734	99,3734	99,6241	99,4987	99,3734	99,3734	99,1228	99,4361 ± 0,1477
#3	PFA	2,8822	2,8822	2,8822	2,8822	2,8822	2,8822	2,8822	2,8822	2,8822	2,8822	2,8822
	PMD	0,2506	0	0	0	0,5013	0,2506	0	0	0,6266	0,1253	0,1754
	CD	99,7494	100	100	100	99,4987	99,7494	100	100	99,3734	99,8747	99,8246 ± 0,2303
#4	PFA	4,01	4,01	4,01	4,01	4,01	4,01	4,01	4,01	4,01	4,01	4,01
	PMD	6,3910	6,1404	4,8872	5,3883	5,5138	4,7619	5,8897	4,8872	6,1404	4,3860	5,43859
	CD	93,6090	93,8596	95,1128	94,6115	94,4862	95,2381	94,1103	95,1128	93,8596	95,6140	94,5614 ± 0,6894