Mahalanobis-distance innovation testing, the difference between filter uncertainty and protection levels, the definition and significance of Hazardous Misleading Information (HMI), and how spoof events are detected and quarantined in real-time.
## What you'll learn 1. Define a **sensor fault** and explain why it causes the Kalman filter innovation to grow. 2. Apply the **Mahalanobis distance test** to determine when an innovation is statistically suspicious. 3. Distinguish between **filter error bounds** (from $\mathbf{P}$) and **integrity bounds** (protection levels). 4. Define **Hazardous Misleading Information (HMI)** and identify it from position-error and protection-level time histories. ## In this block