Geometric FDI based on SVD for redundant inertial sensor systems

We consider inertial navigation system (INS) sensor redundancy which has symmetric configuration and propose an FDI (fault detection and isolation) method for multiple faults using singular value decomposition (SVD). When redundant sensor configuration is given, such as dodecahedron configuration in INS, the range space and null space of configuration matrix can be determined. We use null space component of faults with respect to configuration matrix to obtain the geometric FDI method.