Calibration Procedure for an Inertial Measurement Unit Using a 6-Degree-of-Freedom Hexapod

In this paper a calibration procedure for an Inertial Measurement Unit (IMU) mounted on an Unmanned Aerial Vehicle (UAV) is presented. Calibration of the sensor when it is mounted on the UAV is attractive because it combines calibration of the internal sensor parameters with the translational and rotational offsets of the IMU relative to the body frame of the UAV. A stepwise calibration procedure is presented, based on motion profiles and measurements generated by a 6-degreeof-freedom hexapod. The experimental results demonstrate that the linear acceleration and angular velocity measurements of the IMU sensor ADIS16400 can be calibrated to typically 0.17% and 0.25% of the ADIS16400 measurement range for linear acceleration and rotational velocity, respectively.

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