| 摘要 |
<p>The invention describes a method for calibrating an inertial sensor device (S) installed in an arbitrary position on board a vehicle (V), based on the generation (200-500) of a transformation matrix (R) adapted to convert the real measured data of the vehicle dynamics (V) detected in a local coordinate system (x,y,z) into data indicative of the vehicle dynamics (V) in a vehicle coordinate system (X,Y,Z). The elements of the transformation matrix (R) are calculated by comparison (410, 420, 430) between a plurality of measured data acquired by the onboard sensor device (S) and a corresponding plurality of reference measured data obtained in a plurality of different driving conditions through calibrating detector means (G) different from said onboard sensor device (S). The value of each element of the transformation matrix (R) is modified by forcing a constraint of orthogonality (600) of the matrix.</p> |
