An
inertia measurement unit calibration
system based on a high-precision
motion capture system comprises a
data acquisition module, a posture factor module, a
speed factor module and a position factormodule; the
data acquisition module acquires information of position and posture of the
motion capture system and acceleration and
angular velocity of an
inertia measurement unit; the posture factormodule is connected with the
data acquisition module, and used for optimizing posture factors and calculating zero-offset parameter of a
gyroscope and relative rotation among multiple coordinates of the
inertia measurement unit; the
speed factor module is connected with the
data acquisition module and the posture factor module and used for estimating zero-offset parameter of an
accelerometer according to the zero-offset parameter of the
gyroscope, the relative rotation among the coordinates and the information of position and postures; the position factor module is connected with the
data acquisition module and the
speed factor module and used for further optimizing parameter calculated through the speed factor module according to the information of position and postures and then outputting the optimized calibrated result. The high-precision
motion capture system is used for calibration, so that existing data acquisition process is facilitated, special operation is omitted, an open-
source data set of
truth value data including position and posture is provided, and high precision can be achieved.