Integrated Movement Measurement Unit

One or more computer-readable non-transitory storage media embodying software that is operable when executed to cause one or more processors to perform operations comprising:

• receive data from a lidar sensor;
• determine movement data based on the data received from the lidar sensor;
• receive data from an inertial measurement unit;
• determine, based on the movement data and the data received from the inertial measurement unit, one or more calibration factors for the inertial measurement unit;
• and
• apply the one or more calibration factors to a measurement received from the inertial measurement unit.

A method comprising, by a computing system, comprising:

• receiving data from a lidar sensor;
• determining movement data based on the data received from the lidar sensor;
• receiving data from an inertial measurement unit;
• determining, based on the movement data and the data received from the inertial measurement unit, one or more calibration factors for the inertial measurement unit;
• and
• applying the one or more calibration factors to a measurement received from the inertial measurement unit.