{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,16]],"date-time":"2026-01-16T10:33:27Z","timestamp":1768559607706,"version":"3.49.0"},"reference-count":18,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2014,9,19]],"date-time":"2014-09-19T00:00:00Z","timestamp":1411084800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Changing the position of the Center of Gravity (CoG) for an aerial vehicle  is a challenging part in navigation, and control of such vehicles. In this paper, an  all-accelerometers-based inertial measurement unit is presented, with a proposed method for on-line estimation of the position of the CoG. The accelerometers\u2019 readings are used to find and correct the vehicle\u2019s angular velocity and acceleration using an Extended Kalman Filter. Next, the accelerometers\u2019 readings along with the estimated angular velocity and acceleration are used in an identification scheme to estimate the position of the CoG  and the vehicle\u2019s linear acceleration. The estimated position of the CoG and motion measurements can then be used to update the control rules to achieve better trim conditions for the air vehicle.<\/jats:p>","DOI":"10.3390\/s140917567","type":"journal-article","created":{"date-parts":[[2014,9,19]],"date-time":"2014-09-19T11:03:02Z","timestamp":1411124582000},"page":"17567-17585","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":31,"title":["In-Flight Estimation of Center of Gravity Position Using  All-Accelerometers"],"prefix":"10.3390","volume":"14","author":[{"given":"Yazan","family":"Al-Rawashdeh","sequence":"first","affiliation":[{"name":"Department of Systems Engineering, King Fahd University of Petroleum and Minerals,  Dhahran 31261, Saudi Arabia"}]},{"given":"Moustafa","family":"Elshafei","sequence":"additional","affiliation":[{"name":"Department of Systems Engineering, King Fahd University of Petroleum and Minerals,  Dhahran 31261, Saudi Arabia"}]},{"given":"Mohammad","family":"Al-Malki","sequence":"additional","affiliation":[{"name":"Technical & Industrial Services Co., Dammam 31493, Saudi Arabia"}]}],"member":"1968","published-online":{"date-parts":[[2014,9,19]]},"reference":[{"key":"ref_1","unstructured":"Yang, X., Zhong, Y., Yang, L., Zhang, J., and Shen, G. 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(U.S. Patent 8,260,477)."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"2520","DOI":"10.1109\/TIM.2005.858129","article-title":"Design of Accelerometer-Based Inertial Navigation Systems","volume":"54","author":"Tan","year":"2005","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"640","DOI":"10.1109\/TMECH.2007.910080","article-title":"Design and implementation of a mechatronic, all-accelerometer inertial measurement unit","volume":"12","author":"Parsa","year":"2007","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Ho, C.W., and Lin, P.C. (2009, January 10\u201315). Design and implementation of a 12-axis accelerometer suite. In. 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Optimal State Estimation: Kalman, H Infinity, and Nonlinear Approaches, Wiley-Interscience.","DOI":"10.1002\/0470045345"},{"key":"ref_17","unstructured":"Tham, M.T., and Mansoori, S.N. (1988, January 13\u201315). Covariance resetting in recursive least squares estimation. Oxford, UK."},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Diniz, P.S.R. (2008). Adaptive Filtering: Algorithms and Practical Implementation, Springer.","DOI":"10.1007\/978-0-387-68606-6"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/14\/9\/17567\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:16:07Z","timestamp":1760217367000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/14\/9\/17567"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,9,19]]},"references-count":18,"journal-issue":{"issue":"9","published-online":{"date-parts":[[2014,9]]}},"alternative-id":["s140917567"],"URL":"https:\/\/doi.org\/10.3390\/s140917567","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,9,19]]}}}