Abstract: Aiming at the problem that the traditional IMU calibration method is complicated to operate and relies too much on the turntable, an IMU calibration method for Vicon system is proposed. Firstly, the pre-integration technique is used to fuse the IMU data with the Vicon data to obtain the IMU residual. Then, the state quantity between the adjacent frames of Vicon is subtracted to obtain the Vicon residual. Finally, the IMU residual and the Vicon residual are put into the same state vector, and the marginal prior information is introduced to establish a nonlinear optimization function, and the zero offset estimation parameters of the gyroscope and accelerometer are obtained by solving.In the meantime, the EuRoc data set test experiment and indoor positioning comparison experiment are designed. The experimental results show that the calibration result of this method for IMU has higher accuracy whichis much better than that of the traditional method.

Key words: Vicon, IMU calibration, pre-integration, marginalized prior information, nonlinear optimization, inertial navigation