A system for calibrating sensor readings, comprising: a hardware processor to: read first sensor data from accelerometer and gyroscope sensors located in an inertial measurement unit - IMU - on a vehicle, the vehicle being at a first stationary direction and location; read second sensor data from the IMU accelerometer and gyroscope sensors at substantially the same location and at a second opposite vehicle direction; and calculate a pitch and roll misalignment of the IMU relative to longitudinal/lateral axes of the vehicle that extend through a vehicle control point based on the first and second sensor data from the accelerometer sensors and a yaw rate bias based on the first and second sensor data from the gyroscope sensors, wherein the hardware processor is configured to: estimate a first pitch angle of the vehicle from the first sensor data from the accelerometer sensors; estimate a second pitch angle of the vehicle from the second sensor data from the accelerometer sensors; calculate the pitch misalignment of the IMU by averaging the first and second estimated pitch angles; estimate a first roll angle of the vehicle from the first sensor data from the accelerometer sensors; estimate a second roll angle of the vehicle from the second sensor data from the accelerometer sensors; and calculate the roll misalignment of the IMU by averaging the first and second estimated roll angles. read first sensor data from accelerometer and gyroscope sensors located in an inertial measurement unit - IMU - on a vehicle, the vehicle being at a first stationary direction and location; read second sensor data from the IMU accelerometer and gyroscope sensors at substantially the same location and at a second opposite vehicle direction; and calculate a pitch and roll misalignment of the IMU relative to longitudinal/lateral axes of the vehicle that extend through a vehicle control point based on the first and second sensor data from the accelerometer sensors and a yaw rate bias based on the first and second sensor data from the gyroscope sensors, wherein the hardware processor is configured to: estimate a first pitch angle of the vehicle from the first sensor data from the accelerometer sensors; estimate a second pitch angle of the vehicle from the second sensor data from the accelerometer sensors; calculate the pitch misalignment of the IMU by averaging the first and second estimated pitch angles; estimate a first roll angle of the vehicle from the first sensor data from the accelerometer sensors; estimate a second roll angle of the vehicle from the second sensor data from the accelerometer sensors; and calculate the roll misalignment of the IMU by averaging the first and second estimated roll angles. estimate a first pitch angle of the vehicle from the first sensor data from the accelerometer sensors; estimate a second pitch angle of the vehicle from the second sensor data from the accelerometer sensors; calculate the pitch misalignment of the IMU by averaging the first and second estimated pitch angles; estimate a first roll angle of the vehicle from the first sensor data from the accelerometer sensors; estimate a second roll angle of the vehicle from the second sensor data from the accelerometer sensors; and calculate the roll misalignment of the IMU by averaging the first and second estimated roll angles.