IMU calibration

A method of verifying data reliability from an inertial measurement unit, the method comprising:

• collecting data from a plurality of accelerometers, a plurality of gyroscopes, and a plurality of magnetometers of an inertial measurement unit;
• detecting whether a motion anomaly is present using a motion anomaly rule set comprising:
• the motion anomaly is not present if a sum of data from the plurality of accelerometers is greater than one and a sum of data from the plurality of magnetometers is greater than one,
• the motion anomaly is not present if a sum of data from the plurality of accelerometers is less than one and a sum of data from the plurality of magnetometers is less than one,
• the motion anomaly is present if a sum of data from the plurality of accelerometers is less than one and a sum of data from the plurality of magnetometers is greater than one, and
• the motion anomaly is not present if a sum of data from the plurality of accelerometers is greater than one and a sum of data from the plurality of magnetometers is less than one;
• where detection of inertial motion by each of the plurality of accelerometers equals one and an absence of motion by each of the plurality of accelerometers equals zero;
• where detection of magnetic motion by each of the plurality of magnetometers motion equals one and an absence of magnetic motion by each of the plurality of accelerometers equals zero;
• and,
• disregarding data collected from the plurality of accelerometers and the plurality of gyroscopes for a predetermined period upon detecting a motion anomaly.