BAC extension to Gyro and Accelerometer published at AURO

Happy to share that the extension of our Best Axes Composition paper (selected from papers at European Conference of Mobile Robots 2021) is published in a special issue of Robotics and Autonomous Systems Journal (Q1).

M. Faizullin and G. Ferrer”Best Axes Composition extended: Multiple gyroscopes and accelerometers data fusion to reduce systematic error”, AURO 2022 – Available for free read/download till the end of Jan 2023.  (

The paper is about Multiple IMU data fusion not by averaging data but by choosing more accurate instant data from all axes of all IMUs. As a result – 20% accuracy improvement of pose estimation comparing to fusion by classical averaging described in the paper of Zhang et al.