Abstract—A new calibration procedure was proposed for

strap down inertial measurement unit (IMU) in a body

reference frame which was independent of the turntable. The

proposed methodology required no precise mechanical platform

for the calibration of the accelerometer and the rate-gyros.

Error models of IMU parameters were derived from the

physical characteristic of three accelerometers and three rate

gyros, which taked into account the sensor axis misalignments,

scale factor, gyro constant drifts, and biases inherent in the

manufacture of IMU. Least squares method was used to

evaluate the accelerometers and gyros model coefficients.

According to the experimental results, we can see that the

proposed algorithms is less affected by turntable’s accuracy,

process is simplified.