Fault Detection and Isolation using navigation performance-based Threshold for Redundant Inertial Sensors

We consider fault detection and isolation (FDI) problem for inertial navigation systems (INS) which use redundant inertial sensors and propose an FDI method using average of multiple parity vectors which reduce false alarm and wrong isolation, and improve correct isolation. We suggest optimal isolation threshold based on navigation performance, and suggest optimal sample number to obtain short detection time and to enhance detectability of faults little larger than threshold.