Fault tolerance analysis of sensor systems

This paper deals with the analysis of fault tolerance properties of sensor systems. Observability, individual observability and pseudo-observability indexes are used to build minimal and pseudo-minimal sensor sets considering both global and partial state estimation. Pseudo-minimal and minimal sensor sets are organized into an oriented graph which contains all the possible reconfiguration paths for which the system remains observable. The analysis of this graph gives the evolution of the system robustness with respect to sensor faults.