Volume, Issue, Month, Year : Vol 7, No 1, January, 2017
An Inertial Navigation System (INS) can easily track position, velocity and orientation of any moving vehicle. Generally, deterministic errors are present in an uncalibrated Inertial Measurement Unit (IMU) which leads to the requirement of an accurate estimation of navigation solution. These inertial sensors, thus, needs to be calibrated to reduce the error inherent in these systems. By mathematical model of IMU including both accelerometer and gyroscope is utilized for the purpose of error calibration. Particle Swarm Optimization (PSO) and Human Opinion Dynamics (HOD) Optimization based calibration techniques have used to obtain error parameters such as bias, scale factor and misalignment errors.