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Abstract. In the paper a method for fast IMU calibration is described. The method need previously calibrated IMU, called standard IMU. Standard IMU and IMU to be calibrated have to have a solid mechanical connection. Then a sequention of movement is done and an outputs from both IMUs are recorded simultaneously. Outputs can be recorded with different sampling frequency for each IMU. Then an iterative procedure is employed for simultaneous fitting signal from calibrated IMU to standard IMU and aligning both signals, using least squares method. The point in 2-parameter space, that give best fit allows to calculate a calibration matrixes that describes linear dependence beetwen calibrated and sandard sensors. A method allows to calibrate all three-axis sensors (accelerometers, angular rate sensors and magnetometers) at the same time. Method is not-time-consuming and can be used to convenient in-field and on-object calibration of IMUs without a complicated calibration setup.