https://doi.org/10.1007/978-3-319-54042-9_43
Due to inertial and magnetic sensors imperfections, pre-processing is crucial in obtaining reliable orientation estimates. An easy to implement method of sensor calibration is presented, requiring little to none additional equipment. The method does not need a reference sensor and relies on world magnetic and gravity vectors constant relationship. In addition to standard individual calibration, a cross-sensor reference frame alignment is performed. Comparison with a high-grade MARG unit is also provided. Magnetic inclination stability, inertial and magnetic vector magnitude, and angular error are evaluated.