Patent ID: 8825274

Claim:
A method for calibrating an inertial-sensor device installed in an arbitrary position on board a vehicle and adapted to detect at least one entity indicative of dynamics of the vehicle along at least one direction of a local reference-coordinate system, said method comprising steps of: acquiring by the inertial-sensor device at predetermined measuring times real-measured data indicative of the vehicle dynamics in the local reference-coordinate system; acquiring by a calibrating detector different from the inertial-sensor device, at sampling times coinciding with the measuring times, reference-measured data indicative of the vehicle dynamics in a vehicle-coordinate system; and generating by a processing unit a coordinate-transformation matrix adapted to correlate the entity measured in the local reference-coordinate system with a corresponding entity in the vehicle-coordinate system, wherein all elements of the coordinate-transformation matrix are computed by comparing the real-measured data acquired by the initial-sensor device with corresponding the reference-measured data obtained in a plurality of different driving conditions, the real-measured data include a quantity of items of data substantially equal to a quantity of the elements of the coordinate-transformation matrix, and a value of each of the elements of the coordinate-transformation matrix is adjusted by forcing a constraint of orthogonality to obtain an orthogonal-transformation matrix that is closest to the coordinate-transformation matrix obtained based on the measured data, wherein Ro=R(R T R) −1/2 is applied to determine the orthogonal-transformation matrix that is closest to the coordinate-transformation matrix obtained based on the measured data.