提出一种鱼雷传感器故障在线诊断方案，直接利用各传感器测量值导出解析余度，通过统计假设检验，完成故障的检测和隔离。由于无须增加硬件余度和其他解析余度，因而易于实现，且可靠性好，检测迅速。仿真结果验证了该种方法的有效性。 A fault diagnosis method for torpedo sensor was proposed. The analytical residuals were directly derived from the measured values ​​of all the sensors. Through the statistical hypothesis testing, the fault detection and isolation were completed. Easy to implement, reliable, and fast because there is no need to increase hardware redundancy or other resolution margin. Simulation results verify the effectiveness of this method.