Progress in MIMU research

Over the last years we have spent a sig­nif­i­cant research effort on analy­sis of the multiple-IMU (MIMU) sys­tems and plat­forms we have built. Recently we have had result of two major efforts published:


I. Skog, J.-O. Nils­son, P. Hän­del, A. Neho­rai, “Iner­tial Sen­sor Arrays, Max­i­mum Like­li­hood, and Cramér–Rao Bound”, IEEE Trans­ac­tions on Sig­nal Pro­cess­ing, vol. 64, no. 16, pp. 4218 — 4227, 2016.

The arti­cle con­tains the first esti­ma­tion the­o­ret­i­cal for­mu­la­tion and analy­sis of MIMU sys­tems. The for­mu­la­tion makes it pos­si­ble to analys fun­da­men­tal prop­er­ties of such sys­tems and to derive effi­cient esti­ma­tors. In the article,we:

  • Derive bound on the achiev­able per­for­mance of MIMU-systems
  • Sug­gest an effi­cient (achiev­ing the bounds) maximum-likelihood esti­ma­tors for such systems
  • Ana­lyze the prop­er­ties and per­for­mance of MIMU-systems by sim­u­la­tions an exper­i­men­tal data


J.-O. Nils­son and I. Skog, “Iner­tial sen­sor arrays — a lit­er­a­ture sur­vey”, Proc. of 2016 Euro­pean Nav­i­ga­tion Con­fer­ence (ENC), 30 May — 2 June, Helsinki, Fin­land, 2016.

Work­ing with MIMU sys­tems, we have come to real­ize that the related results are very much spread out and poorly cross­cited. There­fore, we com­piled a lit­er­a­ture sur­vey con­sist­ing of some +300 pub­li­ca­tions, cat­e­go­rized accord­ing to array setup, study area and appli­ca­tion. The sur­vey also con­tains a descrip­tion of fun­da­men­tal sys­tem prop­er­ties of iner­tial arrays. Our hope is that the sur­vey will pro­vide the inter­ested reader with an overview of the topic and inspire fur­ther research in an area where the rapid devel­op­ment of sen­sor and com­pu­ta­tional tech­nolo­gies pro­vides many new opportunities.

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