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Myth: In general, gyro scale factors lie on the diagonal of the scale factor/misalignment correction matrix.

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Myth: In general, gyro scale factors lie on the diagonal of the scale factor/misalignment correction matrix. PDF Print E-mail

For an IMU that has three orthogonal sense axes, the 3 × 3 scale factor/misalignment matrix comprises scale factor corrections on the diagonal of the matrix, and the off-diagonal elements comprise misalignments.

For three or more gyro sense axes arranged non-orthogonally, the elements of the 3 × 3 scale factor/misalignment matrix are linear combinations of scale factors and misalignments. It is incorrect, therefore, to say that the diagonal of the matrix comprises scale factors. This was shown in the papers "Observability and Calibration of a Redundant Inertial Measurement Unit (RIMU)" and "Advances in Attitude Determination with Redundant Inertial Measurement Units" cited in the Conference Papers bibliography.

The RADICAL Redundant IMU (RIMU) Attitude Determination/Calibration Filter estimates a full set of physical scale factors and misalignments for any number of gyros. For further information on RADICAL, see the Specialized Software Tools and the Products pages. Also look for articles on RADICAL in the Conference Papers bibliography.