Method, device and system for calibrating angular rate measurement sensors

摘要

The present invention describes a method to calibrate an angular measurement device using an acceleration measurement device. The angular rate measurement device includes at least one angular measurement sensor and is able to distinguish the direction and strength of the gravity. The acceleration measurement device is fixed to the angular measurement sensor. A level plane which is substantially perpendicular to the gravity vector is determined by using the acceleration measurement device in a first stationary position. Angular values are determined during a displacement of the angular measurement sensor and the level plane is again determined in a second stationary position. An angle according to the level planes is determined by the acceleration measurement device and is compared to an angle according to the angular values. By performing the calibration method the scales factor(s) of the angular measurement device and the strength and direction of the gravity can be obtained and/or corrected.