Appendix A: Field calibration of inertial measurement units
Abstract: Inertial measurement units (IMUs) consist of orthogonal triads of magnetometers, gyroscopes, and accelerometers, and are used in autopilots to provide information on the vehicle pose and motion. The IMUs used on unmanned aircraft suffer from the low signal-to-noise ratios and strong temperature dependencies typical of Microelectromechcanical systems (MEMS) devices, requiring tedious laboratory testing or on-board state estimators for calibration. In this appendix, a method is presented for estimating IMU calibration constants, based on three successive least-squares computations. Memory and computation requirements are low enough for implementation on 8 bit microprocessors, ...
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