Degradation modeling and RUL prediction using Wiener process subject to multiple change points and unit heterogeneity

• A multiple change-point Wiener process based prognostic framework is proposed.• To consider unit-to-unit heterogeneity, a fully Bayesian approach is developed.• An empirical two-stage process is proposed for model estimation.• Online individual model updating is achieved through an exact recursive algorithm.• The effectiveness is demonstrated through simulation and real case studies.