Patent ID: 8122333

Claim:
A method of accommodating fault in sensors, the method comprising: detecting fault in sensors which are each independently geometrically configured; when it is determined there are faulty sensors, isolating faulty sensors so that the location of the faulty sensors is identified; and determining sensors to be excluded among the faulty sensors by calculating a first covariance matrix comprising a plurality of faulty sensor outputs, a second covariance matrix excluding one faulty sensor output, and a third covariance matrix excluding all of the faulty sensor outputs, with respect to {circumflex over (x)}=[{circumflex over (x)} x {circumflex over (x)} y {circumflex over (x)} z ] T that is a triad solution of the measurement equation for n sensors m=Hx+f+ε,ε˜N (0 n ,σI n ); and comparing traces of the first, second, and third covariance matrices.