---
title: "Calibrate Vicon IMUs"
canonical: "https://help.vicon.com/space/Nexus218/406488985/Calibrate%20Vicon%20IMUs"
format: markdown
---
If you plan to capture global angles, to ensure that the IMU sensor data is stable and to minimize drift, you must calibrate the IMUs.

**To calibrate Vicon IMUs:**

1. Ensure you are streaming global angles (see [Stream live data from Vicon IMUs](https://vicon-help.atlassian.net/wiki/spaces/Nexus218/pages/406488960)).
2. To calibrate an IMU sensor, wave the sensor in a figure-of-eight movement several times for at least 10 seconds, ensuring that it rotates through all three axes during the motion.
3. Put the sensor on a flat surface such as the floor or a table and spin it through two full rotations around the **z** axis.
  :check_mark: **Tip**: To avoid any unwanted influence on the sensor, do not place it in proximity to anything metallic.
4. Wait at least five seconds until the data has stabilized.

If you want to align the global angle outputs from the IMUs to the Vicon world, you can then perform wand alignment and segment alignment, as described in [Align IMU data with the Vicon world](https://vicon-help.atlassian.net/wiki/spaces/Nexus218/pages/406489087).