An improved fault tolerant algorithm is presented. Its mathematical models as well as its implementation are discussed in this work. The algorithm's effectiveness has been proved by means of computer program and applied to a gyroscopic sensors unit (GSU). The improved fault-tolerant algorithm has the ability to perform a complete diagnosis of the GSU, constantly monitoring its state by means of several mathematical models, determining the possible existence of a fault in the unit. Once a fault in the unit has occurred, the algorithm is able to find where the fault is located; allowing us to define what kind of fault has appeared in the unit and this diagnosis can lead us to perform the proper corrective actions to recover the optimal performance in the GSU.

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