This paper proposes a multi-sensor fault detection algorithm based on intelligent sensing systems. The algorithm establishes equations considering physical constraints and then uses the constraints between adjacent nodes to calculate the Kalman filter estimation value with state constraints, for fault diagnosis and data checking. The sensor structure propose herein is distributed, and the algorithm assumes the form of sensor network nodes, each node having its own processing system, without any central nodes or central communication facilities. Therefore, the proposed algorithm is fully distributed, enabling independent calculations between multiple measurement nodes. This paper discusses the algorithm derivation process in detail, as well as the verification of the parallelism, accuracy, and stability of the algorithm through software simulation and hardware testing.

提出了一种基于智能传感系统的多传感器故障检测算法。该算法建立考虑物理约束的方程，然后使用相邻节点之间的约束来计算具有状态约束的卡尔曼滤波器估计值，以进行故障诊断和数据检查。本文提出的传感器结构是分布式的，算法采用传感器网络节点的形式，每个节点都有自己的处理系统，没有任何中央节点或中央通信设施。因此，所提出的算法是完全分布式的，从而可以在多个测量节点之间进行独立的计算。本文详细讨论了算法的推导过程，以及对并行性，准确性，