This folder relates to the multi-position (MPM) method.
It contains MATLAB .m files for running the methods:
- rohac_2014.m
- sipos_2012.m
- syed_2007.m
- Frosio_merayo_and_MVEE (files containing details of where to obtain MATLAB implementations of methods by Frosio et al., Merayo and MVEE)

The .CSV files:
"mpm_experimental_data" - contains data obtained for four LSM6DS3 IMUs mounted on a two-axis gimbal sampling 26 positions via the MPM for about 2.5hrs. The ambient temperature change was less than 0.3°C and relative humidity change less than 0.5% over this time. Quality of this data was assured by averaging measurements at each position to reduce the impact of noise. In this case, the average of 100 samples was taken. Note each row of white space in the .CSV files represents the end of one instance of MPM calibration and the start of the next.

"mpm_simulation_parameter_initialisation.csv" - contains simulation results of the optimisation-based MPM algorithms for different parameter initialisation distances from the identity accelerometer model (perfectly calibrated).
"mpm_experimental_parameter_initialisation.csv" - contains the experimental results of the optimisation-based MPM algorithms for different parameter initialisation distances from the identity accelerometer model (perfectly calibrated).

The folder "syed_2007" contains files relating to the implementation of the MPM of Syed et al. These were based on details in:

Syed, Z. F., Aggarwal, P., Goodall, C., Niu, X., & El-Sheimy, N. (2007). A new multi-position calibration method for MEMS inertial navigation systems. Measurement Science and Technology, 18(7), 1897–1907. https://doi.org/10.1088/0957-0233/18/7/016

and

Shin, E.H. (2001). Accuracy Improvement of Low Cost INS/GPS for Land Applications. https://www.ucalgary.ca/engo_webdocs/NES/01.20156.EHShin.pdf