This is the code used in the publication:
H. Carlsson, I. Skog and J. Jaldén, "Self-Calibration of Inertial Sensor Arrays," in IEEE Sensors Journal, vol. 21, no. 6, pp. 8451-8463, 15 March, 2021, doi: 10.1109/JSEN.2021.3050010.
which can be found here.