Description: Abstract—A new calibration procedure was proposed for
strap down inertial measurement unit (IMU) in a body
reference frame which was independent of the turntable. The
proposed methodology required no precise mechanical platform
for the calibration of the accelerometer and the rate-gyros.
Error models of IMU parameters were derived from the
physical characteristic of three accelerometers and three rate
gyros, which taked into account the sensor axis misalignments,
scale factor, gyro constant drifts, and biases inherent in the
manufacture of IMU. Least squares method was used to
evaluate the accelerometers and gyros model coefficients.
According to the experimental results, we can see that the
proposed algorithms is less affected by turntable’s accuracy,
process is simplified.
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