{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,29]],"date-time":"2025-10-29T13:32:48Z","timestamp":1761744768951,"version":"build-2065373602"},"reference-count":46,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2018,6,7]],"date-time":"2018-06-07T00:00:00Z","timestamp":1528329600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000038","name":"Natural Sciences and Engineering Research Council of Canada","doi-asserted-by":"publisher","award":["417749"],"award-info":[{"award-number":["417749"]}],"id":[{"id":"10.13039\/501100000038","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003150","name":"Fonds Qu\u00e9b\u00e9cois de la Recherche sur la Nature et les Technologies","doi-asserted-by":"publisher","award":["164522"],"award-info":[{"award-number":["164522"]}],"id":[{"id":"10.13039\/501100003150","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Using multiple IMUs allows both their distribution along vehicle structures and a reliance on integration methods, which is not possible with a single IMU. This paper addresses the issue of relying on three IMUs instead of only one of a higher quality in the context of a satellite launcher. The impact of the IMU positions was tested by comparing collocated IMUs against IMUs installed in the head of each launcher stage. For multi-IMU configurations, three integration methods were tested: all IMUs fused in a single INS, multiple INSs fused in a stacked filter, and multiple INSs fused in a stacked filter with geometrical constraints. All navigation solutions were aided by a three-axis attitude reference sensor and were tested with and without a GPS receiver. The results show that distributing IMUs along the launcher structure does not improve navigation performances compared to having them collocated. The fusion of multiple IMUs in one INS provides equivalent results as one IMU. However, fusing multiple INSs greatly reduces estimation errors. Performances are further improved with the addition of geometrical constraints. During long GPS outages, relative velocity and position constraints should not be exploited, as they may lead to filter divergence.<\/jats:p>","DOI":"10.3390\/s18061872","type":"journal-article","created":{"date-parts":[[2018,6,8]],"date-time":"2018-06-08T03:13:18Z","timestamp":1528427598000},"page":"1872","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Satellite Launcher Navigation with One Versus Three IMUs: Sensor Positioning and Data Fusion Model Analysis"],"prefix":"10.3390","volume":"18","author":[{"given":"Yanick","family":"Beaudoin","sequence":"first","affiliation":[{"name":"D\u00e9partement de G\u00e9nie \u00c9lectrique et de G\u00e9nie Informatique, Universit\u00e9 Laval, 1065 Avenue de la M\u00e9decine, Qu\u00e9bec, QC G1V 0A6, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8492-7633","authenticated-orcid":false,"given":"Andr\u00e9","family":"Desbiens","sequence":"additional","affiliation":[{"name":"D\u00e9partement de G\u00e9nie \u00c9lectrique et de G\u00e9nie Informatique, Universit\u00e9 Laval, 1065 Avenue de la M\u00e9decine, Qu\u00e9bec, QC G1V 0A6, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Eric","family":"Gagnon","sequence":"additional","affiliation":[{"name":"Defence Research and Development Canada, 2459 Route de la Bravoure, Qu\u00e9bec, QC G3J 1X5, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"suffix":"Jr.","given":"Ren\u00e9","family":"Landry","sequence":"additional","affiliation":[{"name":"D\u00e9partement de G\u00e9nie \u00c9lectrique, \u00c9cole de Technologie Sup\u00e9rieure, 1100 Rue Notre-Dame Ouest, Montr\u00e9al, QC H3C 1K3, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2018,6,7]]},"reference":[{"key":"ref_1","unstructured":"Narmada, S., Delaux, P., and Biard, A. 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