@InProceedings{Kim2004,
  Title                    = {Initial calibration of an inertial measurement unit using an optical position tracking system},
  Author                   = {Kim, A. and Golnaraghi, M.F.},
  Booktitle                = {Proceedings of the Position Location and Navigation Symposium},
  Year                     = {2004},
  Month                    = {april},
  Pages                    = {960--101},

  Abstract                 = {A reliable calibration procedure of a standard six degree-of-freedom inertial measurement unit (IMU) is presented. Mathematical models are derived for the three accelerometers and three rate gyros, taking into account the sensor axis misalignments, accelerometer offsets, electrical gains, and biases inherent in the manufacture of an IMU. The inertial sensors are calibrated using data from a 3D optical tracking system that measures the position coordinates of markers attached to the IMU. Inertial sensor signals and optical tracking data are obtained by manually moving the IMU. Using vector methods, the quaternion corresponding to the IMU platform orientation is obtained, along with its acceleration, velocity, and position. Given this kinematics information, the sensor models are used in a nonlinear least squares algorithm to solve for the unknown calibration parameters. The calibration procedure is verified through extensive experimentation.},
  Doi                      = {10.1109/PLANS.2004.1308980},
  ISSN                     = { },
  Keywords                 = {accelerometer offsets; accelerometers; electrical biases; electrical gains; inertial measurement unit; inertial sensors; initial calibration; nonlinear least squares algorithm; optical position tracking system; rate gyros; sensor axis misalignments; Global Positioning System; calibration; inertial navigation; microsensors; optical sensors; optical tracking; IMU calibration},
  Review                   = {- Uses optotrak to provide ground truth on accel/ang velo data to calibrate},
  Timestamp                = {2011.07.19}
}

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Mathematical models are derived for the three accelerometers and three rate gyros, taking into account the sensor axis misalignments, accelerometer offsets, electrical gains, and biases inherent in the manufacture of an IMU. The inertial sensors are calibrated using data from a 3D optical tracking system that measures the position coordinates of markers attached to the IMU. Inertial sensor signals and optical tracking data are obtained by manually moving the IMU. Using vector methods, the quaternion corresponding to the IMU platform orientation is obtained, along with its acceleration, velocity, and position. Given this kinematics information, the sensor models are used in a nonlinear least squares algorithm to solve for the unknown calibration parameters. 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