Calibration of an inertial measurement unit

@article{Paternain2013CalibrationOA,
  title={Calibration of an inertial measurement unit},
  author={Santiago Paternain and Mat{\'i}as Tailani{\'a}n and Rafael Canetti},
  journal={2013 16th International Conference on Advanced Robotics (ICAR)},
  year={2013},
  pages={1-6}
}
This paper presents a fast and low cost way to calibrate different inertial measurement sensors. In particular the calibration of an accelerometer and a gyroscope using nonlinear least squares is presented. A model of the sensors which includes the main errors that MEMS devices present is used. A calibration method is proposed for estimating the static parameters of the model and a temperature adjustment is proposed and implemented.