Inertial Measurement Unit Calibration Procedure for a Redundant Tetrahedral Gyro Configuration with Wavelet Denoising

Abstract: The aim of this paper was to present a calibration procedure applied to an inertial measurement unit composed of a triad of accelerometers and four gyros in a tetrad configuration. The procedure has taken into account a technique based on least-square methods and wavelet denoising to perform the best estimate of the sensor axis misalignments. The wavelet analysis takes place in order to remove undesirable high frequency components via multi-resolution signal decomposition analysis applied gyro signals. Equations for the least-square methods and wavelets analysis are presented, and th...