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Sensor fault detection is of extreme importance for ensuring the safeoperation of vehicles. This paper introduces a novel approach to detecting andidentifying faulty sensors. For ground vehicles confined to the horizontalplane, this technique is based on six kinematics-based error metrics that arecomputed in real time by using onboard sensor data encompassing compass, radar,rate gyro, and accelerometer measurements as well as their derivatives.Real-time numerical differentiation is performed by applying the adaptive inputand state estimation (AIE/ASE) algorithm. Numerical examples are provided toassess the efficacy of the proposed methodology.

Kinematics-Based Sensor Fault Detection for Autonomous Vehicles Using Real-Time Numerical Differentiation