Our recent modules contain multiple single-chip inertial measurement units. To get the best performance out of them, they should be calibrated. However, the “IMU array” setup means standard calibration procedures will not work. We have therefore developed array calibration methods for the modules. These have lately been published in the letter below. Matlab code for performing the calibration and and STL-file and corresponding SCAD-code are also provided.
In short, the modules are inserted in the calibration body seen above, static measurements are take from all sides, the calibration parameters are estimated in a blind system identification fashion, and code is generated which should then be loaded onto the respective module.
John-Olof Nilsson, Isaac Skog, and Peter Händel, Aligning the Forces—Eliminating the Misalignments in IMU Arrays, Instrumentation and Measurement, IEEE Transactions on , vol.PP, no.99, pp.1,1