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# Tag Info

That depends on how many of the accelerometer parameters (mostly drift and misalignment) you're trying to estimate. If the IMU and the 'extra' accelerometer were in perfect alignment (and if their statistics are Gaussian), then the optimal combination of their outputs would be a simple weighted sum: $\vec {\hat a} = k_1 \vec a_1 + k_2 \vec a_2$ where (...