diff --git a/core/calibration/ImuMagnetometerCalibration.cpp b/core/calibration/ImuMagnetometerCalibration.cpp
index 9118017ac..aebf32a97 100644
--- a/core/calibration/ImuMagnetometerCalibration.cpp
+++ b/core/calibration/ImuMagnetometerCalibration.cpp
@@ -47,11 +47,15 @@ ImuCalibration::ImuCalibration(
     const Eigen::Vector3d& biasAccel,
     const Eigen::Matrix3d& rectificationMatrixGyro,
     const Eigen::Vector3d& biasGyro,
-    const Sophus::SE3d& T_Device_Imu)
+    const Sophus::SE3d& T_Device_Imu,
+    double timeOffsetSecDeviceAccel,
+    double timeOffsetSecDeviceGyro)
     : label_(label),
       accel_(rectificationMatrixAccel, biasAccel),
       gyro_(rectificationMatrixGyro, biasGyro),
-      T_Device_Imu_(T_Device_Imu) {}
+      T_Device_Imu_(T_Device_Imu),
+      timeOffsetSecDeviceAccel_(timeOffsetSecDeviceAccel),
+      timeOffsetSecDeviceGyro_(timeOffsetSecDeviceGyro) {}
 
 std::string ImuCalibration::getLabel() const {
   return label_;
@@ -84,6 +88,14 @@ LinearRectificationModel3d ImuCalibration::getGyroModel() const {
   return gyro_;
 }
 
+double ImuCalibration::getTimeOffsetSecDeviceAccel() const {
+  return timeOffsetSecDeviceAccel_;
+}
+
+double ImuCalibration::getTimeOffsetSecDeviceGyro() const {
+  return timeOffsetSecDeviceGyro_;
+}
+
 /* MagnetometerCalibration */
 MagnetometerCalibration::MagnetometerCalibration(
     const std::string& label,
diff --git a/core/calibration/ImuMagnetometerCalibration.h b/core/calibration/ImuMagnetometerCalibration.h
index 63be2f05c..3256a615c 100644
--- a/core/calibration/ImuMagnetometerCalibration.h
+++ b/core/calibration/ImuMagnetometerCalibration.h
@@ -87,7 +87,9 @@ class ImuCalibration {
       const Eigen::Vector3d& biasAccel,
       const Eigen::Matrix3d& rectificationMatrixGyro,
       const Eigen::Vector3d& biasGyro,
-      const Sophus::SE3d& T_Device_Imu);
+      const Sophus::SE3d& T_Device_Imu,
+      double timeOffsetSecDeviceAccel = 0.0,
+      double timeOffsetSecDeviceGyro = 0.0);
 
   std::string getLabel() const;
   Sophus::SE3d getT_Device_Imu() const;
@@ -120,11 +122,23 @@ class ImuCalibration {
    */
   LinearRectificationModel3d getGyroModel() const;
 
+  /**
+   * @brief return time offset between device and accelerometer
+   */
+  double getTimeOffsetSecDeviceAccel() const;
+
+  /**
+   * @brief return time offset between device and gyroscope
+   */
+  double getTimeOffsetSecDeviceGyro() const;
+
  private:
   std::string label_;
   LinearRectificationModel3d accel_;
   LinearRectificationModel3d gyro_;
   Sophus::SE3d T_Device_Imu_;
+  double timeOffsetSecDeviceAccel_;
+  double timeOffsetSecDeviceGyro_;
 };
 
 /**
diff --git a/core/calibration/loader/DeviceCalibrationJson.cpp b/core/calibration/loader/DeviceCalibrationJson.cpp
index a392b3b6d..820a22db2 100644
--- a/core/calibration/loader/DeviceCalibrationJson.cpp
+++ b/core/calibration/loader/DeviceCalibrationJson.cpp
@@ -219,26 +219,23 @@ nlohmann::json imuCalibrationToJson(const ImuCalibration& imuCalib) {
   imuJson["T_Device_Imu"] = json::se3ToJson(imuCalib.getT_Device_Imu());
 
   // Accelerometer calibration
-  imuJson["Accelerometer"]["TimeOffsetSec_Device_Accel"] = 0;
-  imuJson["Accelerometer"]["Model"]["Name"] = "UpperTriagonalLinear";
-  imuJson["Accelerometer"]["Model"]["RectificationMatrix"] =
-      json::eigenMatrixToJson(imuCalib.getAccelModel().getRectification());
   imuJson["Accelerometer"]["Bias"]["Offset"] =
       json::eigenVectorToJson(imuCalib.getAccelModel().getBias());
   imuJson["Accelerometer"]["Bias"]["Name"] = "Constant";
+  imuJson["Accelerometer"]["Model"]["Name"] = "UpperTriagonalLinear";
+  imuJson["Accelerometer"]["Model"]["RectificationMatrix"] =
+      json::eigenMatrixToJson(imuCalib.getAccelModel().getRectification());
+  imuJson["Accelerometer"]["TimeOffsetSec_Device_Accel"] = imuCalib.getTimeOffsetSecDeviceAccel();
 
   // Gyroscope calibration
   imuJson["Gyroscope"]["Bias"]["Name"] = "Constant";
 
   imuJson["Gyroscope"]["Bias"]["Offset"] =
       json::eigenVectorToJson(imuCalib.getGyroModel().getBias());
+  imuJson["Gyroscope"]["Model"]["Name"] = "Linear";
   imuJson["Gyroscope"]["Model"]["RectificationMatrix"] =
       json::eigenMatrixToJson(imuCalib.getGyroModel().getRectification());
-  imuJson["Gyroscope"]["Model"]["Name"] = "LinearGSensitivity";
-  auto zeroMat = Eigen::Matrix<double, 3, 3>();
-  zeroMat.setZero();
-  imuJson["Gyroscope"]["Model"]["GSensitivityMatrix"] = json::eigenMatrixToJson(zeroMat);
-  imuJson["Gyroscope"]["TimeOffsetSec_Device_Gyro"] = 0;
+  imuJson["Gyroscope"]["TimeOffsetSec_Device_Gyro"] = imuCalib.getTimeOffsetSecDeviceGyro();
 
   return imuJson;
 }
diff --git a/core/calibration/loader/SensorCalibrationJson.cpp b/core/calibration/loader/SensorCalibrationJson.cpp
index 414cca5cf..812d711d0 100644
--- a/core/calibration/loader/SensorCalibrationJson.cpp
+++ b/core/calibration/loader/SensorCalibrationJson.cpp
@@ -86,9 +86,12 @@ ImuCalibration parseImuCalibrationFromJson(const nlohmann::json& json) {
   const auto& label = json["Label"];
   const auto [accelMat, accelBias] = parseRectModelFromJson(json["Accelerometer"]);
   const auto [gyroMat, gyroBias] = parseRectModelFromJson(json["Gyroscope"]);
+  const double timeOffsetSecDeviceAccel = static_cast<double>(json["Accelerometer"]["TimeOffsetSec_Device_Accel"]);
+  const double timeOffsetSecDeviceGyro = static_cast<double>(json["Gyroscope"]["TimeOffsetSec_Device_Gyro"]);
   const auto T_Device_Imu = se3FromJson<double>(json["T_Device_Imu"]);
 
-  return ImuCalibration(label, accelMat, accelBias, gyroMat, gyroBias, T_Device_Imu);
+  return ImuCalibration(label, accelMat, accelBias, gyroMat, gyroBias, T_Device_Imu,
+      timeOffsetSecDeviceAccel, timeOffsetSecDeviceGyro);
 }
 
 MagnetometerCalibration parseMagnetometerCalibrationFromJson(