A calibration method of MEMS-IMU based on three-axis turntable

This paper presents a calibration method for Micro-Electro-Mechanical Systems Inertial Measurement Unit (MEMSIMU) based on a three-axis turntable, utilizing the turntable to perform offline calibration of error parameters for MEMS accelerometers and MEMS gyroscopes. The sources of error in MEMS-IMU were analyzed, and error models for accelerometers and gyroscopes were established based on zero bias error, scale factor error, and cross-axis coupling error. This paper designed multi-position static calibration experiments and positive-negative angular position calibration experiments to calibrate the accelerometers and gyroscopes. The error parameter matrices for the accelerometers and gyroscopes were determined using the least squares method to compensate for the sensor data. To verify the calibration effectiveness, experiments comparing the original sensor data with the compensated data were conducted. The results demonstrate that this method has improved the consistency of the three axes of the MEMS-IMU, reduced the zero bias error, and enhanced the positioning accuracy.