Method for MIMU in-field systematic calibration through multi-position rotation

Aiming to accurately and quickly calibrate the systematic errors of low cost MIMU, a new method of multi-position rotation in-field calibration is proposed. According to the navigation error propagation equations, the state equation and the measurement equation are constructed for the Kalman filter. The systematic calibration for MIMU reduces the reliance on the turntable and it doesn't need accurate rotation, which save much time. The static navigation test is carried out to test the effectiveness of the proposed algorithm, and the results show that the proposed calibration scheme can be easily implemented to estimate the errors of the accelerometers and gyros, including scale factors, axis misalignments, and biases. After compensation, the quality of IMU raw data is significantly improved.