PT - JOURNAL ARTICLE AU - Burkhard, Julien AU - Sharma, Aman AU - Skaloud, Jan TI - Linear Estimation of Deterministic Accelerometer Errors AID - 10.33012/navi.656 DP - 2024 Sep 21 TA - NAVIGATION: Journal of the Institute of Navigation PG - navi.656 VI - 71 IP - 3 4099 - https://navi.ion.org/content/71/3/navi.656.short 4100 - https://navi.ion.org/content/71/3/navi.656.full SO - NAVIGATION2024 Sep 21; 71 AB - The deterministic errors of an accelerometer comprise the prevailing i) bias, ii) scale factor, and iii) non-orthogonality. Together, these errors result in a nonlinear measurement model, which is conventionally solved via an iterative nonlinear least-squares method. In contrast to the conventional approach, we propose a novel method to transform the above nonlinear model into a system of linear equations, resulting in an exact, closed-form solution of the deterministic errors. The developed mathematical formulations are first verified in a simulation setting, followed by a real-time implementation using Robot Operating System for small micro-electromechanical inertial measurement units.