A computationally efficient platform for inertial sensor calibration

This paper presents the new open-source statistical software package for inertial sensor calibration. This platform is based on the Generalized Method of Wavelet Moments that was recently proposed to estimate simple and composite stochastic models that are typically used in sensor calibration. As opposed to existing techniques, this new package allows to easily and efficiently visualize, estimate and test a wide range of stochastic models that are used to describe and predict the error signals coming from accelerometers and gyroscopes that characterize inertial sensors. The availability of this new tool is of considerable importance since, given the growing use of low-cost IMUs, correctly identifying and precisely estimating the models for the error signals of these sensors allows to greatly improve their navigation accuracy.