# Baseline IMU Blind Initial Calibration Procedure

This procedure applies only to the baseline IMU and should be followed only if you can’t see the calibration state.

Calibration maneuvers are sometimes called the “IMU Dance,” and it goes like this:

Initial calibration:

* Place the device (“device” refers to the sensor head and whatever it is rigidly attached to) in six different stable positions for a period of a few seconds (at least five) each to allow the accelerometers to calibrate to gravity. Make sure that there is slow, smooth movement between stable positions. The six stable positions can be in any direction, but make sure that the device is lying at least once perpendicular to each of the x, y, and z axes. Try not to “thunk” the system as you get it into a stable position.
* Make some random movements (for example: writing the number ‘8’ on the air), and/or rotating slowly around all three axes
* Repeat the two steps above at least three times.


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