IMU Fault Detection Based on <svg style="vertical-align:-3.636pt;width:23.950001px;" id="M1" height="24.225" version="1.1" viewBox="0 0 23.950001 24.225" width="23.950001"  xmlns="http://www.w3.org/2000/svg">
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				<tspan style="font-size: 17.93px; " x="0" y="0">𝜒</tspan>
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			<text transform="matrix(1,0,0,-1,-59.67,63.46)">
				<tspan style="font-size: 12.55px; " x="0" y="0">2</tspan>
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	</g>
</svg>-CUSUM

<table>Absolute value of the difference between variances of the <svg height="18.362499" id="M116" style="vertical-align:-5.76984pt" version="1.1" viewbox="0 0 38.150002 18.362499" width="38.150002" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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</svg>.</table>

Mathematical Problems in Engineering

fig3

Figure 3

Figure 3: IMU Fault Detection Based on <svg style="vertical-align:-3.636pt;width:23.950001px;" id="M1" height="24.225" version="1.1" viewBox="0 0 23.950001 24.225" width="23.950001"  xmlns="http://www.w3.org/2000/svg">
	<g transform="matrix(1.25,0,0,-1.25,0,24.225)">
		<g transform="translate(72,-52.62)">
			<text transform="matrix(1,0,0,-1,-71.95,56.29)">
				<tspan style="font-size: 17.93px; " x="0" y="0">𝜒</tspan>
			</text>

			<text transform="matrix(1,0,0,-1,-59.67,63.46)">
				<tspan style="font-size: 12.55px; " x="0" y="0">2</tspan>
			</text>

		</g>
	</g>
</svg>-CUSUM 

Mathematical Problems in Engineering

IMU Fault Detection Based on 𝜒 2 -CUSUM

Figure 3

IMU Fault Detection Based on -CUSUM