Calibration of an inertial-magnetic measurement unit without external equipment, in the presence of dynamic magnetic disturbances

Inertial-magnetic measurement units are inexpensive sensors, widely used in electronic systems (smartphones, GPS, micro-UAV, etc). However the precision of these sensors is highly dependent on their calibration. This article proposes a complete solution to calibrate the sensors (accelerometers, gyrometers and magnetometers), the inter-sensor rotations and the dynamic disturbances of the magnetic field due to the immediate environment. Contrary to most of the existing techniques, the proposed method does not necessitate any external equipment, apart from the sensors already included in the system. The calibration can be performed by hand manipulation by the final user. Simulations and experiments show the advantages of the proposed approach.