ICNPAA 2010: Mathematical Problems in
Engineering, Aerospace and Sciences

The aim of this paper is to present a calibration procedure applied to an inertial measurement unit (IMU) composed by a triad of accelerometers and four gyros (FOG) in a tetrad configuration. The procedure takes into account a technique based on Least-square methods and wavelet de-noising to perform the best estimate of the sensor axis misalignments. The wavelet analysis takes place in order to remove high and undesirable frequency components via multiresolution signal decomposition analysis applied to accelerometer and gyro signals. Equations for the least-square methods and wavelets analysis are presented, and the procedure is verified experimentally.