IMU Fault Detection Based on 𝜒²-CUSUM

Figure 8

𝜒²-CUSUM results for 20000 samples of a movement sequence with a step fault at sample 10000 and magnitude 0.15^∘/𝑠; (SNR) 𝑏=3.5. (a) PV; (b) 𝑆_𝑘; (c) 𝑆_𝑘̆; (d) 𝑔_𝑘.

(a)

(b)

(c)

(d)