In this paper, the impact of the fusion framework on the fault diagnosis process is discussed. The centralized fusion framework makes it difficult to locate and estimate the sensor fault. Based on the fault detection method, the sequential fusion framework could locate and estimate the sensor fault and realize the fault-tolerant estimation of system states. In the sense of minimum mean square error (MMSE), based on the sequential detection of bias fault of sensors, a sequential fault-tolerant fusion estimation approach is presented to estimate the sensor fault and the system state, simultaneously, optimally, in real time. Further, a novel alternate fault-tolerant fusion estimation method is proposed to alternately estimate the sensor fault and the system state, in the frame of sequential fusion. What is more, the equivalency of the two proposed methods is proved. And the feasibility and equivalency of them are also verified by the computer simulation.
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