Spatial Registration Method of Multi-sensor Rod Arm Effect

In the integrated navigation system, the different inertial measurement units will deviate from the center of mass of the carrier when they are installed, which will cause measurement errors of the accelerometer and cause the lever-arm effect. By designing a Butterworth low-pass filter, the acceleration error of the lever arm is filtered to compensate, and based on this, the speed error of the lever arm is compensated, thereby eliminating the lever arm error. Simulation results show that using the compensation method can effectively remove the lever arm error hidden in the speed estimation.