Revisit the Calibration of Inertia Sensors

This report describes a novel technique for the calibration of accelerometers. The theory is based on acceleration as a vector quantity and the fact that the mathematical function of accelerometers is the projection of a real motion vector space to a signal vector space. The sensitivity should be therefore be defined as a matrix. The definition of the calibration shall be to derive all of the components in the sensitivity matrix. The transverse sensitivity value in the conventional definition can be derived using sensitivities in the sensitivity matrix. Cross sensitivity makes a large influence on the measurement error.