ALAC formulates accelerometer calibration as a constrained homogeneous least-squares problem on a combined error matrix, recovering scale, misalignment, and bias parameters from five attitude-aided measurements under static gravity.
A robust and easy to implement method for imu calibration without external equipments
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Attitude-Aided Linear Calibration of Triaxial Accelerometers
ALAC formulates accelerometer calibration as a constrained homogeneous least-squares problem on a combined error matrix, recovering scale, misalignment, and bias parameters from five attitude-aided measurements under static gravity.