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I have a physical system that consists of a GNSS receiver and an inertial measurement unit (IMU) with accelerometer and gyroscope. I would like to determine to some level of precision the angular and positional offset between the IMU and the center of gravity of the vehicle. The data that can be gathered with this platform is somewhat limited, given that this is a ground vehicle of considerable size, but can include stationary regime and driving around with decent speed and turning.

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