This folder contains the MATLAB source code for the derivation of the Cramer-Rao lower bounds for the static calibration methods.

See: Skog, I., & Händel, P. (2006, September 17). Calibration of a MEMS Inertial Measurement Unit. XVII IMEKO World Congress. for details on how these are calculated.

Use computeCRLB_MPM.m for the multi-position methods (MPM).
Use computeCRLB_SPM.m for the SPM of Tee et al. (does not consider the misalignment angles)
Use computeCRLB_SPM_FULL.m for the SPM of Jurman et al. (considers all terms in the measurement model).