This paper proposes a novel algorithm to determine the optimal orientation of sensing axes of redundant inertial sensors such as accelerometers and gyroscopes (gyros) for increasing the sensing accuracy. In this paper, we have proposed a novel iterative algorithm to find the optimal sensor configuration. The proposed algorithm utilizes the majorization-minimization (MM) algorithm and the duality principle to find the optimal configuration. Unlike the state-of-the-art approaches which are mainly geometrical in nature and restricted to sensors’ noise being uncorrelated, the proposed algorithm gives the exact orientations of the sensors and can easily deal with the cases of correlated noise. The proposed algorithm has been implemented and tested via numerical simulation in the MATLAB. The simulation results show that the algorithm converges to the optimal configurations and shows the effectiveness of the proposed algorithm.

中文翻译：

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优化放置多个惯性传感器以提高传感精度的新算法

本文提出了一种新算法来确定冗余惯性传感器（如加速度计和陀螺仪）的传感轴的最佳方向，以提高传感精度。在本文中，我们提出了一种新颖的迭代算法来寻找最佳传感器配置。所提出的算法利用主最小化（MM）算法和对偶原理来寻找最优配置。与最先进的方法本质上主要是几何学并仅限于传感器不相关的噪声不同，所提出的算法给出了传感器的准确方向，并且可以轻松处理相关噪声的情况。所提出的算法已经在MATLAB中通过数值模拟实现和测试。