Inertial sensors: Further developments in low-cost calibration and testing

Inertial sensor static calibration under changing temperature is proposed and analyzed. Due to relatively short test duration and non-stationary effects, a modification of the Allan variance, called Direct Predictor (DP), is proposed to describe the residual error model. With a reliable method of acquiring an error model, the calibration procedure is analyzed and the trade-off between temperature profile and calibration errors is shown. Results of an actual test and an in-depth discussion about models tightly bounding the residual errors complete the paper.