Design of a Fault Detection and Isolation System for Intelligent Vehicle Navigation System

Table 8

Residual generation in separate tests for fault detectability check.

Tests	Fault location	Injection (s)	Fault size
Test 1	Long. accelerometer	165 s	3 m/s^2
Test 2	Yaw rate	165 s	0.5 rad/s
Test 3	Front left wheel speed	153 s	5 m/s
Test 4	Front right wheel speed	163 s	5 m/s