imucal - A Python library to calibrate 6 DOF IMUs

Küderle A, Roth N, Richer R, Eskofier B (2022)

Publication Type: Journal article

Publication year: 2022


Original Authors: Arne Küderle, Nils Roth, Robert Richer, Bjoern M. Eskofier

Book Volume: 7

Pages Range: 4338

Issue: 73


DOI: 10.21105/joss.04338

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Inertial measurement units (IMUs) have wide application areas from human movement analysis to commercial drone navigation. However, to use modern micro-electromechanical systems(MEMS)-based IMUs calibration is required to transform the raw output of the sensor into physically meaningful units. To obtain such calibrations one needs to perform sets of predefined motions with the sensor unit and then apply a calibration algorithm to obtain the required transformation and correction factors for this unit. The imucal library implements the calibration algorithm described by Ferraris et al. (F. Ferraris et al., 1994; Franco Ferraris et al.,1995) and provides functionality to calculate calibration parameters and apply them to new measurements. As typically multiple calibrations are recorded per sensor over time, imucal further provides a set of opinionated tools to save, organize, and retrieve recorded calibrations. This helps to make sure that always the best possible calibration is applied for each recording even when dealing with multiple sensors and dozens of measurements.

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How to cite


Küderle, A., Roth, N., Richer, R., & Eskofier, B. (2022). imucal - A Python library to calibrate 6 DOF IMUs. Journal of Open Source Software, 7, 4338.


Küderle, Arne, et al. "imucal - A Python library to calibrate 6 DOF IMUs." Journal of Open Source Software 7 (2022): 4338.

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