Fault detection, identification and reconstruction for ground vehicles

A fault detection filter and a fault reconstruction process are designed to monitor the sensors and actuators on ground vehicles. The fault can be detected because the residual generated by the fault detection filter is zero when there is no fault and the residual becomes nonzero when a fault occurs. Furthermore, the faulty component can be identified because the residual is nonzero in a unique and a priori known direction for each fault. Finally, the fault can be reconstructed from the residual by the fault reconstruction process. The performance of the fault detection filter and fault reconstruction process are evaluated using empirical data.