Movable structure, sensor module, and method for calibrating sensor module

A sensor module attached to a movable part of a movable structure or a site interlocked with the movable part, the movable structure having the movable part and a control device controlling the movable part, the movable part pivoting about a predetermined axis, the sensor module comprising:

• an inertial sensor detecting first values with respect to three axes perpendicular to each other;
• a calibration unit receiving a first roll angle, a first pitch angle, and a first yaw angle as information of a first attitude of the sensor module from the control device, calculating a second roll angle, a second pitch angle, and a second yaw angle as an attitude of the sensor module based on the first values in response to a calibration instruction from the control device, and generating correction information for making the second roll for making the second roll angle, the second pitch angle, and the second yaw angle to become the first roll angle, the first pitch angle, and the first yaw angle, respectively,
• a storage unit configured to store the correction information;
• and
• a correction unit configured to correct the first values based on the correction information.

A method for calibrating a sensor module, the sensor module including an inertial sensor and provided at a movable part or a site interlocked with movable part, the method comprising:

• detecting, by the sensor module, first values with respect to three axes perpendicular to each other;
• causing a control device to control the movable part in such a way that the sensor module takes a first attitude;
• causing the control device to give a calibration instruction to the sensor module;
• causing the control device to send a first roll angle, a first pitch angle, and a first yaw angle as information of the first attitude to the sensor module;
• causing the sensor module to calculate a second roll angle, a second pitch angle, and a second yaw angle as an attitude of the sensor module based on the first values in response to the calibration instruction and to generate correction information for making the second roll angle, the second pitch angle, and the second yaw angle to become the first roll angle, the first pitch angle, and the first yaw angle, respectively;
• and
• causing the sensor module to correct the first values based on the correction information.