Calibration of a Micromechanical Inertial Measurement Unit on a Turntable in the Spectral Domain

The paper discusses an approach to calibration of a micromechanical inertial measurement unit, based on experiments on a simple rotating bench like an electric screwdriver, and application of the Fourier analysis. The Fourier transform converts the dynamic problem to a static problem in the frequency domain. Calibration of accelerometers is reduced to approximation of the spectral data with an ellipsoid. Calibration of gyros is a simple linear algebraic problem. The algorithm does not require an initial guess, thus its convergence is guaranteed. The algorithm is tested both with simulated and experimental data.