Motion-Acceleration Calibration and Compensation in IMUs without External Equipment for Attitude Estimation Filters

arXiv:2607.25784v1 Announce Type: new Abstract: Attitude estimation based on inertial sensing requires measurements of local angular velocities and local gravity via gyroscopes and accelerometers. However, during the motion of a mobile system the inertial measurement unit (IMU) will be subject to additional accelerations which skews the measurement of local gravity. This effect gets amplified the further away the IMU is from the base of the system. Many attitude estimation filters, such as "Madg...