ALAC formulates accelerometer calibration as a constrained homogeneous least-squares problem on a combined error matrix, recovering scale, misalignment, and bias parameters from five attitude-aided measurements under static gravity.
Calibration of low cost imu’s inertial sen- sors for improved attitude estimation.Journal of Intelligent & Robotic Systems, 100(3):1015–1029, 2020
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Attitude-Aided Linear Calibration of Triaxial Accelerometers
ALAC formulates accelerometer calibration as a constrained homogeneous least-squares problem on a combined error matrix, recovering scale, misalignment, and bias parameters from five attitude-aided measurements under static gravity.