Method for calibrating a gyrometer of an object

Method for calibrating a gyrometer of an object moving in an ambient magnetic field, the method being characterised in that it comprises the steps of:

• (a) Acquiring
• by the gyrometer, a measured angular velocity of the object, and
• by magnetic measurement means which are secured to said object, at least two measured magnetic components that are components of the magnetic field and/or of an i-th derivative of the magnetic field around the magnetic measurement means;
• (b) Determining, by data processing means, at least one candidate value for at least one calibration parameter of the gyrometer minimising a first expression defined by at least one first magnetic equation on an estimated angular velocity of the object and on representative magnetic components of the magnetic field and/or of an i-th derivative of the magnetic field around the magnetic measurement means,
• the estimated angular velocity of the object being a function of the measured angular velocity and of the at least one calibration parameter of the gyrometer,
• the representative magnetic components being a function of the measured magnetic components, and
• the at least one first magnetic equation assuming that the magnetic field is uniform and stationary around the magnetic measurement means;
• and
• (c) estimating a first error parameter representative of an error on the at least one candidate value and, if and only if said first error parameter is below a first predetermined threshold, calibrating the gyrometer with the at least one candidate value.