IMU Orientation Calibration

Goal

Align all IMUs to a common board/rocket frame to correct for mounting misalignment.

Procedure (Sketch)

  1. Use a machined square baseplate with orthogonal faces.

  2. Mount the board and sensors carefully.

  3. Place the assembly on a precisely horizontal table.

  4. Collect accel data with low-pass filtering; when flat, only the vertical axis should read ~9.81 m/s²; others ~0.

  5. Repeat for all orthogonal faces.

  6. Compute per-sensor rotation matrices.

  7. Store calibration constants in on-board flash and archive externally.

  8. Recalibrate whenever sensors/board are moved or replaced.

References