Procedure for effortless in-field calibration of three-axial rate gyro and accelerometers

The contemporaneous use of three-axis rate gyro and accelerometer is required in industrial applications such as strap-down platforms. The use of low-cost sesnors ofter requires a calibration immediately before the sensor use. This paper describes a procedure which does not require either angular velocity standards or standard accelerometers. The procedure makes use of the local gravity and of a set of rotations returning to the original position.