The Micro-electro-mechanical systems (MEMS) have been adopted into various applications such as navigation or positioning, consumer electronics, medical electronics. It provides low fabrication cost, lightweight and low-power chip-based accelerometers and gyroscopes. The signals for inertial measurement unit (IMU) is greatly depends on the sensor’s proper installment. Due to this fact, these low-cost sensors are in great need of a calibration procedure. This paper presents evaluation and calibration of an inertial measurement unit, Ultra-Miniature 6 (UM-6). An experimental setup has been developed for this purpose. The UM6 sensor was placed on the setup and the sensor frame rotating around the standard coordinate system. An electrical circuit was designed to connect the sensor with personal computer. An UART serial protocol was used for communication. Data acquisition system based on Visual C++ was used for archiving of the measurement data, whereas further data processing was performed in Origin Pro 8. This raw experimental data was placed on a mathematical equation for developing calibration data and compare it with sensor provided calibration data for evaluation. The algorithm is shown to give good results using data from the IMU units. The experimental maximum error was 10%, 16.67% and 18.18% for gyro calibration and 9.34%, 7.92% and 13.07% for accelerometer calibration consecutively x, y and z coordinates. Hence the experimental results demonstrate the effectiveness of the proposed method of calibration.