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The development of microelectromechanical systems (MEMS) technology has revolutionized the inertial sensor industry, which has made it possible to produce inertial sensor arrays. However, low-cost inertial measurement systems are affected by scale factors and axis misalignment errors, which can lead to reduced accuracy of position and attitude estimation. Based on the calibration of a single IMU, a calibration algorithm based on the IMU array is designed in this paper. In order to solve the problem of insufficient directional excitation during the calibration of the IMU array using the traditional six-sided method, a calibration device with positive 20 sides is used. This calibration algorithm can not only estimate the scale factor, axis misalignment error and offset of a single IMU in the IMU array, but also estimate the coordinate axis alignment error between different IMUs in the array. By comparing the calibration results with the official calibration parameters, it can be obtained that the calibration results obtained by the IMU array calibration method proposed in this paper can reach 50% to 90% of the factory calibration results.