Inertial Measurement Units (IMUs) are everywhere these days; most particularly in smart phones and other mobile or handheld devices. These IMUs are typically constructed from MEMs inertial sensors. Although the sensors are inexpensive they suffer from accuracy problems. This document describes a process for calibrating an IMU to improve its accuracy by determining the bias, gain, and triad alignment.
The internet connected smart phone is one of the marquis technologies of the 21st century, transforming the way daily life is conducted. Another likely marquis technology is the unmanned aerial vehicle (UAV). The potential for UAVs is enormous, but before that potential can be reached UAV flight management systems (FMS) must achieve smart-phone-like cost and sophistication. For smaller UAVs the smart phone has almost all of the components needed to be the flight management system. In this paper I explore what it would take to use a smart phone as a UAV flight management system.