Development and validation of a wearable inertial measurement system for use with lower limb exoskeletons. - Tadej Beravs; Peter Rebersek; Domen Novak; Janez Podobnik; Marko Munih (Humanoids, 2011)

Three-Axial Accelerometer Calibration Using Kalman Filter Covariance Matrix for Online Estimation of Optimal Sensor Orientation. - Tadej Beravs; Janez Podobnik; Marko Munih (IEEE Trans. Instrum. Meas., 2012)

Magnetometer Calibration Using Kalman Filter Covariance Matrix for Online Estimation of Magnetic Field Orientation. - Tadej Beravs; Samo Begus; Janez Podobnik; Marko Munih (IEEE Trans. Instrum. Meas., 2014)