A weighted average of multiple non-collocated IMUs with weights satisfying the zero-lever-arm condition produces a virtual IMU at a chosen frame with no lever-arm terms.
Multi-visual-inertial system: Analysis, calibration, and estimation.The International Journal of Robotics Research, 0(0):02783649241245726, 0
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Tunable Virtual IMU Frame by Weighted Averaging of Multiple Non-Collocated IMUs
A weighted average of multiple non-collocated IMUs with weights satisfying the zero-lever-arm condition produces a virtual IMU at a chosen frame with no lever-arm terms.