Anomaly detection in multidimensional sensor data

A computer comprising a processor and a memory storing instructions executable by the processor to:

• receive a time series of vectors from a sensor of a vehicle;
• determine a weighted moving mean of the vectors over at least a portion of the time series;
• determine an inverse covariance matrix of the vectors;
• receive a current vector from the sensor;
• determine a squared Mahalanobis distance between the current vector and the weighted moving mean, wherein the squared Mahalanobis distance is determined by using the inverse covariance matrix;
• output an indicator of an anomaly with the sensor in response to the squared Mahalanobis distance exceeding a threshold;
• and
• operate the vehicle based on the time series of vectors without the indicator of the anomaly and not based on the time series of vectors with the indicator of the anomaly.