Abstract
The paper discusses an instrument fault detection, isolation, and accommodation procedure for public transportation vehicles. After a brief introduction to the topic, the rule set implementing the procedure with reference to the kinds of sensors usually installed on public transportation vehicles is widely discussed. Particular attention is paid to the description of the rules aimed at allowing the vehicle to continue working regularly even after a sensor fault develops. Finally, both the estimated diagnostic and dynamic performances in the off-line processing of the data acquired in several drive tests are then analyzed and commented upon.
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