Abstract: System calibration techniques are discussed for strap-down redundant inertial measurement units. The measuring principle and calculation formulation are introduced. A new static calibration approach is discussed for non-orthogonal inertial sensor configuration, with which model parameters can be calculated with high precision. The procedure of parameter calculation and the solution is given. Simulation results show that the new approach can improve navigation precision.

Key words: error compensation, redundant configurations, static calibration, inertial measurement unit (IMU)