Error Modeling and Calibration of MEMS-Based IMUs Including Accelerometers and Gyroscopes

摘要

The objective of this paper is to describe the calibration test method and conditions for MEMS-based IMUs including accelerometers and gyroscopes. This method is mainly used to derive deterministic error bounds within the acceptable range of accuracy. After a detailed description of the error model, the calibration process, test procedure, and test results as well as practical challenges are discussed. The presented method is simple, cheap and fast that takes only a few hours for calibration and validation of these sensors.