| Summary: | Although a number of fault diagnosis algorithms for inertial sensors have been proposed in previous decades, the performance of these algorithms needs to be improved with regard to small faults. In this paper, we introduce a data driven-based algorithm, namely, SaPD, for the anomaly detection and output reconstruction of a redundant inertial measurement unit (RIMU). SaPD implements the fault identification of an inertial apparatus by combining an artificial neural network with the Q contribution plots method in parity space. To improve the performance of the fault detection part, in particular for small faults, we introduce a novel hyperplane that measures the distances between inputs and the primary-neuron set obtained from a self-organizing incremental neural network (SOINN). We also employ the Q contribution plots of sensors in the fault isolation part by analyzing historical data with principal component analysis (PCA). We perform quantitative evaluations in a realistic simulation environment, which demonstrates that the proposed SaPD algorithm outperforms other related algorithms in terms of the fault identification accuracy of tiny faults with an acceptable computational complexity.
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