Abstract: The present invention relates to a method for calibrating a gyrometer equipping a vehicle. The method includes a step (a) of acquisition, by the gyrometer, of a measured angular velocity of the vehicle, and, by measuring measured values of at least one quantity representative of the angular velocity of the vehicle. It also includes a step (b) of determination, by a data processor, of values of at least one gyrometer calibration parameter minimising a difference between a first estimated angular velocity of the vehicle and a second estimated angular velocity of the vehicle, wherein the first estimated angular velocity is a function of the measured angular velocity and parameters for calibrating the gyrometer, and the second estimated angular velocity is a function of the measured values of said at least one quantity representative of the angular velocity of the vehicle.

Abstract: The invention relates to a method for determining a heading, in which a magnetic field is measured by at least one magnetometer and a magnetic heading is determined from said measurement and in which calculation means implement a processing calculating, for each measurement of magnetic heading, a value for characterising the heading thereby determined, characterised in that said characterisation value is a monotone function of a norm of the measured magnetic field gradient, said value being used in the determination of the heading.

Abstract: The present invention relates to a method for calibrating a gyrometer (11) equipping a vehicle (1), the method being characterised in that it comprises the steps of: (a) Acquisition by the gyrometer (11), of a measured angular velocity of the vehicle (1), and by means for measuring (20) at least one quantity representative of the angular velocity of the vehicle (1), of measured values of said at least one quantity representative of the angular velocity of the vehicle (1); (b) Determination by data processing means (21) of values of at least one parameter for calibrating the gyrometer (11) minimising a difference between a first estimated angular velocity of the vehicle (1) and a second estimated angular velocity of the vehicle (1), the first estimated angular velocity of the vehicle (1) being a function of the measured angular velocity and parameters for calibrating the gyrometer (11), and the second estimated angular velocity of the vehicle (1) being a function of the measured values of said at least

Abstract: The invention relates to a method for determining a heading, in which a magnetic field is measured by at least one magnetometer and a magnetic heading is determined from said measurement and in which calculation means implement a processing calculating, for each measurement of magnetic heading, a value for characterising the heading thereby determined, characterised in that said characterisation value is a monotone function of a norm of the measured magnetic field gradient, said value being used in the determination of the heading.