{"id":"https://openalex.org/W7163665874","doi":"https://doi.org/10.48550/arxiv.2606.06308","title":"Attitude-Aided Linear Calibration of Triaxial Accelerometers","display_name":"Attitude-Aided Linear Calibration of Triaxial Accelerometers","publication_year":2026,"publication_date":"2026-06-04","ids":{"openalex":"https://openalex.org/W7163665874","doi":"https://doi.org/10.48550/arxiv.2606.06308"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.06308","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.06308","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.06308","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138009245","display_name":"Yongqiang Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Yongqiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022028229","display_name":"Tian Huang","orcid":"https://orcid.org/0000-0001-9292-3627"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Tian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137977242","display_name":"Yipeng Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Yipeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9779000282287598,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9779000282287598,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.005400000140070915,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.004600000102072954,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.8758000135421753},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.7193999886512756},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6931999921798706},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6927000284194946},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.44589999318122864},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4341999888420105},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.4097999930381775},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4056999981403351},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.3864000141620636}],"concepts":[{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.8758000135421753},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7193999886512756},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6931999921798706},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6927000284194946},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5914000272750854},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.44589999318122864},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4341999888420105},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.4097999930381775},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4056999981403351},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.38989999890327454},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.3864000141620636},{"id":"https://openalex.org/C83633838","wikidata":"https://www.wikidata.org/wiki/Q1256564","display_name":"Rotation matrix","level":2,"score":0.3783999979496002},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.373199999332428},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.34360000491142273},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.32260000705718994},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.3118000030517578},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3059999942779541},{"id":"https://openalex.org/C159737794","wikidata":"https://www.wikidata.org/wiki/Q124274","display_name":"Azimuth","level":2,"score":0.30399999022483826},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.28790000081062317},{"id":"https://openalex.org/C137209882","wikidata":"https://www.wikidata.org/wiki/Q1403517","display_name":"Measurement uncertainty","level":2,"score":0.28200000524520874},{"id":"https://openalex.org/C151233233","wikidata":"https://www.wikidata.org/wiki/Q47574","display_name":"Units of measurement","level":2,"score":0.2797999978065491},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27720001339912415},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.2651999890804291},{"id":"https://openalex.org/C19619285","wikidata":"https://www.wikidata.org/wiki/Q196372","display_name":"Observational error","level":2,"score":0.2583000063896179},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.2502000033855438}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.06308","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.06308","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.06308","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.06308","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Triaxial":[0],"MEMS":[1],"accelerometers":[2],"are":[3,89,137],"widely":[4],"used":[5],"for":[6,94,209],"inertial":[7,60,211],"sensing,":[8],"navigation,":[9],"and":[10,30,79,86,97,106,123,139,154,166,171,176,192,205,216],"sensor":[11,72,179],"fusion,":[12],"but":[13],"existing":[14],"calibration":[15,42,77,113,207,218],"methods":[16],"often":[17],"rely":[18],"on":[19,48,149,197],"costly":[20],"reference":[21],"setups":[22],"or":[23,34,59,145],"nonlinear":[24],"iterative":[25,187],"optimization,":[26],"limiting":[27],"their":[28],"efficiency":[29],"applicability":[31],"to":[32,70,178],"low-cost":[33,214],"self-calibrating":[35],"systems.":[36],"We":[37],"present":[38],"attitude-aided":[39],"linear":[40,81,130],"accelerometer":[41,153],"(ALAC),":[43],"a":[44,65,75,117,140,150,155,203],"method":[45],"that":[46,161],"operates":[47],"any":[49],"platform":[50,95],"providing":[51],"orientation":[52],"information,":[53],"such":[54],"as":[55,116],"turntables,":[56],"robotic":[57],"arms,":[58],"measurement":[61],"units.":[62],"ALAC":[63],"constructs":[64],"combined":[66],"error":[67],"matrix":[68,98],"(CEM)":[69],"represent":[71],"errors":[73],"in":[74,125,163,174],"unified":[76],"model":[78],"enables":[80],"least-squares":[82,120],"estimation.":[83],"The":[84],"bias":[85],"gravity":[87],"vector":[88],"jointly":[90],"estimated,":[91],"implicitly":[92],"accounting":[93],"misalignment,":[96],"decomposition":[99],"of":[100],"the":[101,182],"CEM":[102],"recovers":[103],"scale,":[104],"non-orthogonality,":[105],"alignment":[107],"rotation":[108],"parameters.":[109],"Under":[110],"static":[111],"gravity,":[112],"is":[114],"formulated":[115],"constrained":[118],"homogeneous":[119],"(CHLS)":[121],"problem":[122],"solved":[124],"closed":[126],"form":[127],"using":[128],"standard":[129],"algebra.":[131],"Only":[132],"five":[133],"arbitrarily":[134],"oriented":[135],"measurements":[136],"required,":[138],"recursive":[141],"extension":[142],"supports":[143],"online":[144,167,172,217],"in-field":[146],"calibration.":[147],"Experiments":[148],"stationary":[151],"robot-mounted":[152],"quasi-static":[156],"public":[157],"IMU":[158],"trajectory":[159],"show":[160],"ALAC,":[162],"both":[164],"offline":[165],"modes,":[168],"outperforms":[169],"reference-based":[170],"baselines":[173,196],"accuracy":[175],"robustness":[177],"noise.":[180],"On":[181],"same":[183],"dataset,":[184],"it":[185],"matches":[186],"self-calibration":[188],"under":[189],"filtered":[190],"conditions":[191],"surpasses":[193],"all":[194],"evaluated":[195],"raw":[198],"measurements.":[199],"These":[200],"results":[201],"demonstrate":[202],"robust":[204],"practical":[206],"scheme":[208],"MEMS-based":[210],"platforms,":[212],"especially":[213],"IMUs":[215],"scenarios.":[219]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-06-06T00:00:00"}