A novel redundant inertial measurement unit (RIMU) based on non-redundant inertial measurement unit (NRIMU) as its basic unit is proposed. Low-cost, high-precision and high-reliability are features of the novel RIMU which is different from traditional RIMU based on single inertial sensors as its basic unit. Moreover, a novel stratified calibration algorithm is proposed for the RIMU, which calibrated transformation matrices after calibrating NRIMU. The simulation results show that the stratified calibration algorithm can be implemented on the RIMU, and the presented algorithm features high-precision and simple operation in the RIMU, and the proposed technique can be applied in engineering.
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