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Method of Calibrating an Inertial Assembly Comprising a Dynamic Phase Between Two Static Phases

  • US 20140298883A1
  • Filed: 05/15/2012
  • Published: 10/09/2014
  • Est. Priority Date: 05/20/2011
  • Status: Active Grant
First Claim
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1. A method of calibrating an inertial unit having accelerometers and inertial rotation sensors, comprising the following steps:

  • during a first static stage, in which the inertial unit is in a first orientation, taking measurements by means of the accelerometers and the inertial rotation sensors;

    during a dynamic stage, changing the orientation of the inertial unit, at least in part in azimuth, from the first orientation towards a second orientation, while taking measurements by means of the inertial rotation sensors;

    during a second static stage, in which the inertial unit is in the second position, taking measurements by means of the accelerometers and of the inertial rotation sensors; and

    for each static stage estimating a direction, an amplitude, and a mean speed of rotation for apparent gravity in an inertial frame of reference, calculating variation in orientation between the static stages, and deducing therefrom the accelerometer biases.

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