Accelerometer calibration using sensor fusion with a gyroscope

In this paper, a calibration method for a triaxial accelerometer using a triaxial gyroscope is presented. The method uses a sensor fusion approach, combining the information from the accelerometers and gyroscopes to find an optimal calibration using Maximum likelihood. The method has been tested by using real sensors in smart-phones to perform orientation estimation and verified through Monte Carlo simulations. In both cases, the method is shown to provide a proper calibration, reducing the effect of sensor errors and improving orientation estimates.