Innovation sequence statistical test

Failure detection methods are based on successive monitoring of the innovation sequence and statistical tests. Basically, the standard filter calculations are performed until some form of aberrant behavior is detected. A test was suggested first by Wilsky and Jones (1976) and is based on the following. 

The behavior of the detection algorithm is illustrated by adding a bias to some of the measurements. Curves A, B, C, and D of Fig. 3 illustrate the absolute values of the innovation sequences, showing the simulated error at different times and for different measurements. These errors can be easily recognized in curve E when the chi-square test is applied to the whole innovation vector (n = 4 and a = 0.01). Finally, curves F,G,H, and I display the ratio between the critical value of the test statistic, r, and the chi-value that arises from the source when the variance of the ith innovation (suspected to be at fault) has been substantially increased. This ratio, which is approximately equal to 1 under no-fault conditions, rises sharply when the discarded innovation is the one at fault. 

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