A Deep Neural Network-Based Fault Detection Scheme for Aircraft IMU Sensors

Table 5

Prediction performance of different FDN architectures.

Architecture	Flight configuration; (see Table 1)	Predicted as
		Clean	Angular speed drift	Acceleration drift	Angular speed noise	Acceleration noise
FDN-FULL	in ADS, angle, angular speed, acceleration
Model size	Y LTO manual	92	98	87	96	91
122.0 MB	D cruise AP	96	99	91	94	91
	B cruise AP	95	97	76	95	96
	B free-flight manual	95	97	89	95	95
FDN-FULL/ADS	in angle, angular speed, acceleration
Model size	Y LTO manual	93	95	92	96	96
79.7 MB	D cruise AP	96	99	91	95	96
	B cruise AP	95	97	83	95	95
	B free-flight manual	96	99	86	94	95
FDN-FULL/ANGLE	in ADS, angular speed, acceleration
Model size	Y LTO manual	94	94	82	95	96
98.8 MB	D cruise AP	95	99	95	95	95
	B cruise AP	97	98	81	96	97
	B free-flight manual	94	96	84	95	95
FDN-CNN	CNN in ADS angle, angular speed, acceleration
Model size	Y LTO manual	95	98	78	97	96
84.0 MB	D cruise AP	95	99	79	95	96
	B cruise AP	95	94	71	76	75
	B free-flight manual	96	96	75	94	95
FDN-RNN	LSTM in ADS angle, angular speed, acceleration
Model size	Y LTO manual	67	80	65	78	92
46.7 MB	D cruise AP	71	84	70	76	83
	B cruise AP	76	79	60	64	88
	B free-flight manual	83	65	66	43	74
FDN-AB1	CNN in ADS, angle, acceleration; in angular speed
Model size	Y LTO manual	93	98	62	97	94
93.7 MB	D cruise AP	96	98	91	95	92
	B cruise AP	93	95	72	95	89
	B free-flight manual	96	97	86	95	90
FDN-AB2	CNN in ADS, angle; in angular speed and acceleration
Model size	Y LTO manual	97	96	88	92	96
60.4 MB	D cruise AP	95	99	89	92	94
	B cruise AP	97	97	80	94	98
	B free-flight manual	96	97	84	93	95
FDN-AB3	CNN in angle; in angular speed and acceleration
Model size	Y LTO manual	93	98	79	99	96
103.0 MB	D cruise AP	96	97	83	97	95
	B cruise AP	95	96	68	97	93
	B free-flight manual	96	98	78	96	95
FDN-AB4	CNN in ADS, angle, angular speed; in acceleration
Model size	Y LTO manual	96	96	80	96	95
93.7 MB	D cruise AP	96	99	89	95	92
	B cruise AP	98	98	76	96	92
	B free-flight manual	96	98	74	93	92
FDN-OPT	in angular speed, acceleration
Model size	Y LTO manual	93	98	88	97	94
55.8 MB	D cruise AP	95	99	94	96	95
	B cruise AP	93	98	84	97	93
	B free-flight manual	96	98	92	95	95

In this table, ADS: ; angle: ; angular speed: ; acceleration: .