In this paper, we propose a method that might enable an inertial measurement unit (IMU) to self-calibrate. Self-calibration of IMU is important for: sensing accuracy, reducing manufacturing costs, recalibration upon harsh environmental changes, recalibration after long-term dormancy, and reduced dependence on global positioning systems. What is unique about our technology is that it is the first to offer post-packaged calibration of displacement, force, system stiffness, and system mass. The IMU considered in our study consists of three pairs of accelerometer-gyroscope systems located within the xy-, xz-, and yz-planes of the system. Each pair of sensors oscillates 90 degrees out of phase for continuous sensing during turning points of the oscillation where velocity goes to zero. We demonstrate self-calibration using preliminary data, and we model IMU accuracy and uncertainty through sensitivity analysis.

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