Initial calibration of an inertial measurement unit using an optical position tracking system

@article{Kim2004InitialCO,
  title={Initial calibration of an inertial measurement unit using an optical position tracking system},
  author={AhReum Kim and M. F. Golnaraghi},
  journal={PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)},
  year={2004},
  pages={96-101}
}
A reliable calibration procedure of a standard six degree-of-freedom inertial measurement unit (IMU) is presented. Mathematical models are derived for the three accelerometers and three rate gyros, taking into account the sensor axis misalignments, accelerometer offsets, electrical gains, and biases inherent in the manufacture of an IMU. The inertial sensors are calibrated using data from a 3D optical tracking system that measures the position coordinates of markers attached to the IMU… CONTINUE READING
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