A Fast Calibration Method for MIMU Based on a Rotational Scheduling Scheme

Low-cost micro inertial measurement unit (MIMU) generally has low accuracy, and needs to be calibrated beforehand in practical engineering applications. However, the traditional calibration method has many problems such as accelerometers and gyroscopes are calibrated separately, the steps are complicated, and it is difficult to calibrate in batch. In this paper, a fast calibration method of MIMU using rotational orchestration scheme is proposed to address these problems. Firstly, by analyzing the commonality of the error models of accelerometers and gyroscopes, a unified calibration model based on the principle of least squares is established, which can be used to calibrate the accelerometers and gyroscopes at the same time. Then batch calibration tests are carried out on multiple MIMUs, and the calibrated accuracies are comparable to those obtained by the traditional calibration method, which meet the requirements of engineering applications.