Abstract: The present disclosure relates to a gyro sensor calibration method based on vehicle velocity, which can extract a weighting factor in consideration of vehicle velocity, apply the extracted weighting factor to an extended Kalman filter, and accurately calibrate a gyro sensor in real time, in order to prevent accumulation of scale factor calibration errors, which may occurs as a turning radius is changed depending on vehicle velocity in a turning section, when a GNSS-based dead reckoning (DR) system calibrates a scale factor of the gyro sensor through the extended Kalman filter using GNSS information received in the turning section.

Abstract: The present disclosure relates to a gyro sensor calibration method based on vehicle velocity, which can extract a weighting factor in consideration of vehicle velocity, apply the extracted weighting factor to an extended Kalman filter, and accurately calibrate a gyro sensor in real time, in order to prevent accumulation of scale factor calibration errors, which may occurs as a turning radius is changed depending on vehicle velocity in a turning section, when a GNSS-based dead reckoning (DR) system calibrates a scale factor of the gyro sensor through the extended Kalman filter using GNSS information received in the turning section.