Method for calibrating a gyrometer equipping a vehicle

[0095]Generally speaking, said parameter representative of an error on the calibration parameters is a function of at least said second estimated angular velocity, calculated for the determined values of the calibration parameters, and a “reference” angular velocity illustrating a comparison element, which is the value of the first angular velocity (the gyrometric angular velocity).

[0096]This first embodiment of step (c) is called intrinsic since it only uses quantities available in step (b). Preferably, the estimation residues of step (b) are used, i.e. in the odometric case said parameter representative of an error is in particular the norm (e.g. L2 or L∞) of ωodo(estimation)−ωgyro(estimation) over a given time interval. In such a case, step (c) may be implemented in a concomitant manner with step (b). In the case of a recursive filter, it is possible to use the norm (e.g. L2 or L∞) of the innovation of the filter over a given time period.

[0097]In step (c), called extrinsic, quantities of yet another type are used, in particular:[0098]the steering wheel angle, if odometry has been used[0099]odometry, if the steering wheel angle has been used,[0100]GNSS data, e.g. GPS, (if / when available),[0101]etc.

[0102]Those skilled in the art will know how to calculate on the basis of one or the other of these quantities a reference angular velocity, so as to compare it with the second estimated angular velocity.

[0103]It should be noted that said theoretical angular velocity may be obtained using odometric information of optional wheels not used at step (b), i.e. step (a) comprises, for at least one additional wheel provided with an odometer, the acquisition by this odometer of a measured velocity of the additional wheel, so as to obtain a third estimated angular velocity ωodo′(estimation) in a similar manner to the second (wheels are just changed, to note that a wheel used for the first angular velocity may be reused for the third