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This suite supports the calibration of either single or multiple MEMS IMUs. The calibration parameters include the bias, scale factor, and misalignment of gyroscope and accelerometer triads. Based on the multi-position calibration method, the calibration suite innovatively incorporates a 14-faced polyhedron geometric constraint and a multi-IMU joint optimization algorithm, achieving high accuracy and efficiency.
Customized apparatus for collecting data of internally-fixed IMUs at a dozen of poses
Metal dodecahedron for holding IMUs
Marble platform (200*150*50mm) for placing dodecahedron
Matlab Software for calibrating such IMU parameters
Scale and bias for gyro/accelerometer triads
Misalignment matrices of gyro/accelerometer triads
