A maximum likelihood estimator for fusing the measurements in an inertial sensor array is
presented. The maximum likelihood estimator is concentrated and an iterative solution …

The Hessian matrix, one of the most pivotal parts in a robotic system's acceleration model, is
a prerequisite for dynamic modeling and control of parallel robots. Aimed at providing a …

Inertial sensor arrays, which in this context means sensor arrays composed of
accelerometers, gyroscopes, or a combination of both, have been studied for many years …

A maximum likelihood estimator is presented for self-calibrating both accelerometers and
gyroscopes in an inertial sensor array, including scale factors, misalignments, biases, and …

Over the last few decades, Gyro-Free Inertial Measurement Units (GF-IMUs) have been
extensively researched to overcome the limitations of gyroscopes. This research presents a …

Measuring the trajectory of a rigid body in space is commonly done using an inertial
measurement unit composed of one triaxial accelerometer and one triaxial gyroscope. When …

In this paper, two novel methods to mitigate lever arm effect in Redundant Inertial
Measurement Units (RIMUs) are proposed with different approaches. With the presence of a …

The main advantage of an atomic accelerometer when compared to a classical
accelerometer is negligible bias drift, allowing for stable long-term measurements, which …

In this article, we investigate the problem of dynamically estimating the instantaneous
position, orientation, velocity, and angular velocity of an arbitrarily shaped object during its …

This paper proposes a new approach to improve the performance of a MEMS IMU namely
the use of an aiding Gyroscope-Free IMU (GFIMU); a configuration of accelerometers …