Optimally adding additional inertial sensors to an initial configuration of sensors to maximize the sensing accuracy

Abstract

Abstract In this paper, we solve the problem of optimally adding additional inertial sensors to any known initial configuration of inertial sensors. The initial known configuration may be the optimal configuration or any random configuration of sensors. In this problem, we do not change the initial configuration of sensors, instead we determine the optimal orientations of the sensors which are to be added. We have posed this problem as an optimization problem and proposed a novel method to solve this optimization problem. The proposed method is based on the majorization-minimization procedure. The proposed method has been implemented and tested via numerical simulations in MATLAB. The simulation results show that the proposed method converges to the optimal solution and hence determines the optimal orientations for the sensors which are added to any known configuration of the sensors.