• Six-Position Method (Standard): Used primarily for accelerometers, this method involves placing the IMU in six different orientations to determine constant biases and scale factors.
• Multi-position/Rotation Tests : For gyroscopes, this involves testing at known speeds or orientations to identify gyro drifts.
• Strapdown Rotation Test (SRT) : A highly accurate procedure using a two-axis fixture to identify sensor errors by measuring the rate of change of inertial velocity, often achieving microradian accuracy.
• System-Level/Rotation Modulation : A technique used in rotational INS (RINS) that modulates gyro drifts and accelerometer biases by rotating the IMU (often on a 2-axis or 3-axis platform), converting constant errors into alternating components that can be averaged out.
• Dynamic Self-Calibration : Involves continuous motion, such as a "figure-eight" driving pattern with GPS aiding, to identify errors without a high-precision, stationary calibration fixture.
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• Sensor Modeling: Developing models to address specific errors like biases, scale factors, and non-orthogonalities.
• Kalman Filtering: Used to estimate and correct sensor errors in real-time or post-processing.
• Temperature Calibration: Conducting tests inside environmental chambers to compensate for temperature-sensitive errors.
• Lever Arm Calibration: Measuring the distance between the IMU and GNSS receiver for accurate integration.
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• Precision Rate Tables/Turn Tables: Essential for accurate positioning and rotation during calibration, allowing for the precise measurement of gravitational acceleration on each axis.
• Temperature Chambers: For thermal calibration.
• GPS/RTK: Used for providing ground truth data to aid in dynamic calibration.
  The Institute of Navigation +4

• Accuracy: The choice of method depends on the required precision, with self-calibration techniques sometimes providing faster results than traditional, rigid, 6-position methods.
• Initialization: Proper calibration is often preceded by alignment, ensuring the initial attitude is accurate.
  National Institutes of Health (.gov) +2

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National Institutes of Health (.gov)

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National Institutes of Health (NIH) | (.gov)

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National Institutes of Health (NIH) | (.gov)

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In this chapter, we present the simulation results of the radar sensor model described in Section 3 compared to its real sensor co...

National Institutes of Health (NIH) | (.gov)