Homogeneous Sensor Fusion Optimization for Low-Cost Inertial Sensors

The article deals with sensor fusion and real-time calibration in a homogeneous inertial array. proposed method allows for both estimating the sensors’ constants (i.e., gain bias) automatically suppressing degraded sensors while keeping overall precision of estimation. weight is adaptively adjusted according to RMSE concerning weighted average all sensors. estimated angular velocity was compared reference (ground truth) value obtained using tactical-grade fiber-optic gyroscope. We have experimented low-cost MEMS gyroscopes, but can be applied basically any