IMU calibration on a low grade turntable: Embedded estimation of the instrument displacement from the axis of rotation

The paper concerns one simple method of calibration of an assembled inertial measurement units (IMU) of different grades on a low grade single axis turntable. The main feature of the method is that it has the weakest possible requirements to the testbench. The method was presented at ICINS 2010, ICINS 2013, and is now being used in industry for 3-4 years. It appears to work well in practice. One of special points of this method is the situation, when the IMU is displaced from the axis of rotation. In some cases this fact can be neglected, but in some cases not. It was shown earlier that parameters of this displacement need not to be measured prior to the experiment, but can be estimated automatically during the data processing, similar to the rest of IMU parameters. So the device can be placed arbitrarily onto the stand, and no care of displacement should be taken while conducting the experiment. This work concentrates primarily on aspects of observability and estimation accuracy of IMU displacement (which influence the accuracy of the calibration itself), and shows more variety of experimental results than in previous publications.