US 11,815,363 B2
Method for calibrating a gyrometer of an object
David Vissiere, Paris (FR); Mathieu Hillion, Vernon (FR); and Hendrik Meier, Vernon (FR)
Assigned to SYSNAV, Vernon (FR)
Appl. No. 17/251,106
Filed by SYSNAV, Vernon (FR)
PCT Filed Jun. 12, 2019, PCT No. PCT/FR2019/051415
§ 371(c)(1), (2) Date Dec. 10, 2020,
PCT Pub. No. WO2019/239063, PCT Pub. Date Dec. 19, 2019.
Claims priority of application No. 1855169 (FR), filed on Jun. 13, 2018.
Prior Publication US 2021/0254998 A1, Aug. 19, 2021
Int. Cl. G01C 25/00 (2006.01); G01C 21/16 (2006.01); G01C 22/00 (2006.01); G01R 33/02 (2006.01)
CPC G01C 25/005 (2013.01) [G01C 21/16 (2013.01); G01C 21/1654 (2020.08); G01C 22/00 (2013.01); G01R 33/0206 (2013.01)] 20 Claims
OG exemplary drawing
 
1. Method for calibrating a gyrometer of an object moving in an ambient magnetic field, the method being characterised in that it comprises the steps of:
(a) Acquiring
by the gyrometer, a measured angular velocity of the object, and
by magnetic measurement means which are secured to said object, at least two measured magnetic components that are components of the magnetic field and/or of an i-th derivative of the magnetic field around the magnetic measurement means;
(b) Determining, by data processing means, at least one candidate value for at least one calibration parameter of the gyrometer minimising a first expression defined by at least one first magnetic equation on an estimated angular velocity of the object and on representative magnetic components of the magnetic field and/or of an i-th derivative of the magnetic field around the magnetic measurement means,
the estimated angular velocity of the object being a function of the measured angular velocity and of the at least one calibration parameter of the gyrometer,
the representative magnetic components being a function of the measured magnetic components, and
the at least one first magnetic equation assuming that the magnetic field is uniform and stationary around the magnetic measurement means; and
(c) estimating a first error parameter representative of an error on the at least one candidate value and, if and only if said first error parameter is below a first predetermined threshold, calibrating the gyrometer with the at least one candidate value.