Multiple Accelerometers and Magnetometers Joint Calibration and Alignment

In this article, we introduce a computationally efficient algorithm for simultaneous joint calibration and axes alignment of multiple three-axis accelerometers or magnetometers. The proposed algorithm applies to ensembles of sensors of the same type, fixed to the same rigid platform. It compensates for all linear time-invariant distortions, such as scale factor, cross coupling, and offset, including the soft-iron and hard-iron distortions of the magnetometer. It can be implemented in a simple 12-step sequence and provides fast and accurate calibration without requiring any special piece of equipment.