Patent ID: 8321168

Claim:
A method for compensating the drift of a means for position measurement which is mounted on an object, the method comprising: with at least one gyro ( 6 ), measuring rotation of the object about an axis; with at least one triaxial accelerometer ( 3 ) arranged to measure acceleration of the object in one point along three different directions, measuring the acceleration of the object in the one point along the three different directions; low-pass filtering of an output signal ( 7 ) from the gyro ( 6 ) so that a low-pass filtered gyro signal is achieved; low-pass filtering of an output signal ( 4 ) from the accelerometer ( 3 ) so that a low-pass filtered accelerometer signal is achieved, the low-pass filtered accelerometer signal corresponding to an equilibrium position about which the object moves; subtracting the low-pass filtered gyro signal and the low-pass filtered accelerometer signal from each other, whereby a difference signal ( 12 ) is established; compensating the difference signal ( 12 ) by passing the difference signal ( 12 ) through a controller ( 13 ) which controls a size of a compensation factor whereby a compensated signal ( 14 ) is established at an output of the controller ( 13 ); and subtracting the compensated signal ( 14 ) output from the controller ( 13 ) from the output signal ( 7 ) from the gyro ( 6 ) to establish a drift-compensated gyro output signal.