| 摘要 |
A method that compensates gyroscopes comprises rotating a sensor platform with three gyroscopes, three accelerometers and three magnetometers thereon; determining a first rotation vector Og based upon the rotation sensed by at least one of the three gyroscopes; determining a second rotation vector Om vector based upon the rotation sensed by the three accelerometers and the three magnetometers; and determining a compensation gain and a compensation bias for the at least one gyroscope based upon the first rotation vector and the second rotation vector.
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