Fault Diagnosis of IMU Sensor with Finite-time Sliding Mode Observer

This paper proposes a fault-tolerant system for inertial measurement unit (IMU) sensors by identifying faults using a finite-time sliding mode observer (SMO). The finite-time SMO is designed based on a kinematic model suitable to diagnose IMU sensor faults. To overcome the fault quickly and accurately, we design the finite-time SMO that ensures fast convergence and can consider high-order derivatives of disturbance (fault). The identified faults are removed from sensor measurements to estimate healthy measurements. Fault simulations demonstrate that the observer quickly estimates the faults, enabling flight without degradation in attitude tracking performance.