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Inertial measurement units (IMUs) are used in medical applications for manydifferent purposes. However, an IMU's measurement accuracy can degrade overtime, entailing re-calibration. In their 2014 paper, Tedaldi et al. presentedan IMU calibration method that does not require external precision equipment orcomplex procedures. This allows end-users or personnel without expert knowledgeof inertial measurement to re-calibrate the sensors by placing them in severalsuitable but not precisely defined orientations. In this work, we presentseveral improvements to Tedaldi's method, both on the algorithmic level and thecalibration procedure: adaptions for low noise accelerometers, a calibrationhelper object, and packet loss compensation for wireless calibration. Weapplied the modified calibration procedure to our custom-built IMU platform andverified the consistency of results across multiple calibration runs. In orderto minimize the time needed for re-calibration, we analyzed how the calibrationresult accuracy degrades when fewer calibration orientations are used. We foundthat N=12 different orientations are sufficient to achieve a very goodcalibration, and more orientations yielded only marginal improvements. This isa significant improvement compared to the 37 to 50 orientations recommended byTedaldi. Thus, we were reduced the time required to calibrate a single IMU fromca. 5 minutes to less than 2 minutes without sacrificing any meaningfulcalibration accuracy.

Improved Calibration Procedure for Wireless Inertial Measurement Units without Precision Equipment