IMU Calibration

Currently I have been working on some industrial drones. Before that my work on the UAVs were developing SLAM algorithms, some little work on autopilot software development and finally some work on drone swarms. Before I start working with industrial UAVs, my drones were small (450 frames, 500 frames etc). My main problem now is calibrating IMU.

I can calibrate the IMU without any problem but with lots of work. I have to assemble a team of people to calibrate IMU because drones I am currently working on are too big for just one person to turn around. So my question is, is there a simpler way? Is there a simpler way to calibrate IMU rather than turning the drone around with 3 people.

By the way, I am using Pixhawk 2.1 (Cube with standard carrier board and Here GNSS) with a 960 frame.

Thanks in advance.

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