Abstract
In this work, we explore the importance of sensors' calibration in inertial navigation applications. We focus on the case of low-cost systems, typically using MEMS inertial sensors, where the extra calibration cost is a critical parameter. We highlight the importance of calibration by deriving a bound of the evolution of the attitude and velocity error as a function of the calibration parameters' error. Then, we use low-cost 3-axis accelerometer and 3-axis gyroscope along with a popular pedestrian inertial navigation algorithm to experimentally confirm that raw sensor's data can be highly inappropriate for navigation purposes. Finally, we use the MAG.I.C.AL. methodology for joint calibration and axes alignment of inertial and magnetic sensors to achieve high accuracy measurements resulting in a reliable inertial navigation system.
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