What methods are used to measure and correct MEMS accelerometer and MEMS gyroscope scale factors?

Usually, we fix the MEMS IMU to the turntable, and the accelerometer collects data using a 12-position stationary method. The gyroscope collects data by rotating forward and backward at specific speeds (such as 30 °/s, 60 °/s, etc.), and uses optimization algorithms to obtain the zero bias, scaling factor, and misalignment error matrix of the accelerometer and gyroscope.

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  How to achieve initial alignment of A5000 when we need to calibrate or zero roll, pitch, and yaw data at some point.