Research on the Calibration Method of Micro Inertial Measurement Unit for Engineering Application

Table 1

Estimation for parameters in the output mode for triaxial angular rates.

Parameters	Number 1	Number 2	Number 3	Number 4	Number 5	Average
	0.99974	0.99973	0.99973	0.99970	0.99969	0.99972
	−0.01196	−0.01191	−0.01191	−0.01208	−0.01209	−0.01199
	−0.00059	−0.00056	−0.00063	−0.00058	−0.00058	−0.00059
	0.02402	0.02390	0.02394	0.02391	0.02393	0.02394
	1.00045	1.00047	1.00044	1.00046	1.00050	1.00046
	0.01051	0.01053	0.01052	0.01055	0.01055	0.01053
	0.01089	0.01087	0.01075	0.01090	0.01093	0.01087
	0.01486	0.01487	0.01487	0.01495	0.01496	0.01490
	1.00546	1.00551	1.00590	1.00607	1.00600	1.00579
(rad/s)	−0.03732	−0.04505	−0.04289	−0.04636	−0.04424	−0.04317
(rad/s)	−0.14450	−0.14354	−0.13033	−0.11033	−0.09103	−0.12395
(rad/s)	−0.29703	−0.41339	−0.30428	−0.36567	−0.37728	−0.35153