The reason that the residual test method based on Kalman filter is insensitive to sensor soft fault detection is analyzed.

分析了基于卡尔曼滤波器的残差检验法对传感器缓变故障检测的不敏感性原因。

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For the disadvantage of tracking the soft failure of the residual test based on Kalman filter, this paper makes an improvement on the method by using the state propagator.

针对基于卡尔曼滤波器的残差检验法会跟踪软故障的局限性，提出了一种基于状态递推器的改进方法。

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Another optional control function is the calculation of the residual section resistance based on the measured vol "-tage contact line voltage and the test current."

另一个可选控制功能是对基于测得电压接触线电压及测试电流的剩余区间电阻进行计算。

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