Table 5.

Calibration results of different methods.

Sensors	Axis	Calibrated Results
		Traditional Method		Multi-Position Method
		Biases	Scale Factors (Unitless)	Biases	Scale Factors (Unitless)
Gyroscope (°/s)	X	0.002965	1.0010	0.001954	1.0015
	Y	−0.03110	1.0009	−0.03172	1.0014
	Z	−0.04269	1.0007	−0.04389	1.0009
Accelerometer (mg)	X	5.0000	1.0004	5.232	1.0005
	Y	0.7574	1.0004	1.1271	1.0005
	Z	−0.2963	1.0007	−0.4389	1.0008
Inclinometer (mg)	X	0.4637	0.9975	0.6008	0.9984
	Y	−0.3117	0.9983	−0.5071	0.9981
	Z	−0.3125	0.9976	−0.4136	0.9981