With the development of semiconductor technology, miniaturized and low-cost MEMS IMU sensors are widely used in various fields. Small and low-cost sensors have disadvantages in aspects such as stabilization, accuracy. To overcome these disadvantages, an alignment and bias matrix are used for stabilization of the sensors with constraint. However, a relatively accurate value can be predicted. In this paper, PSO algorithm which has several advantages in the field of the optimization algorithm is introduced. In addition, an alignment and a bias matrix of the IMU sensor calculated by PSO algorithm are compared with the results utilizing least squares method.

Keywords: IMU (inertial measurement unit), PSO (particle swarm optimization) algorithm, alignment matrix, bias matrix