IMU Accelerometer and Magnetometer Calibration Using Spectral Analysis

The presented paper deals with the calibration methodology based on the spectral analysis. One of the advantages of the methodology is that for the accelerometers and magnetometers which are a part of the inertial measurement unit (IMU) only one calibration experiment is required. The methodology is based on the sensor rotation around one of three sensitivity axes placed perpendicularly to the plane of the vector of gravity. The positioning of the sensors can be performed stepwise but also continuously because there is no requirement for the assignment of samples to the particular degrees of the sensor rotation.