Patent ID: 11898872
Assignee: SYSNAV
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 16:
17. A wheeled vehicle, comprising a gyrometer configured to acquire a measured angular velocity of the vehicle, measuring means configured to acquire measured values of at least one quantity representative of the angular velocity of the vehicle, and data processing means configured to:
calculate a first estimated angular velocity of the vehicle that is a function of the measured angular velocity and of gyrometer calibration parameters and a second estimated angular velocity of the vehicle that is a function of the measured values of said at least one quantity representative of the angular velocity of the vehicle,
determine at least one updated value for at least one of the gyrometer calibration parameters that minimises a difference between the first estimated angular velocity of the vehicle and the second estimated angular velocity of the vehicle,
estimate an error parameter representative of an error on the at least one updated value for at least one of the gyrometer calibration parameters, and
if and only if said error parameter is below a predetermined threshold, perform an actual calibration of the gyrometer with the at least one updated value for at least one of the gyrometer calibration parameters.