Millimeter-level calibration of IMU size effect and its compensation in navigation grade systems

We present a simple method of millimeter-level calibration of inertial measurement unit (IMU) size effect, which proved to be tolerant to most common instrumental errors, including the residual calibration errors of the IMU, and does not require special processing apart from recording standard navigation solution in a special rotations on a turntable. Using the calibration results, we demonstrate the effect of their compensation in an inertial system of navigation grade. Control experiments show that navigation error drops one order of magnitude in certain types of motion as compared to the compensation using IMU design documentation instead of the suggested calibration results.