Method for calibrating a gyrometer equipping a vehicle

A method for calibrating a gyrometer equipping a vehicle, the method comprising:

• (a) Acquisition
• by the gyrometer, of a measured angular velocity of the vehicle, and
• by measuring means, of measured values of at least one quantity representative of the angular velocity of the vehicle;
• Calculation of:
• a first estimated angular velocity of the vehicle that is a function of the measured angular velocity and of gyrometer calibration parameters, and
• a second estimated angular velocity of the vehicle that is a function of the measured values of said at least one quantity representative of the angular velocity of the vehicle;
• (b) Determination of at least one updated value for at least one of the gyrometer calibration parameters that minimises a difference between the first estimated angular velocity of the vehicle and the second estimated angular velocity of the vehicle, and
• (c) Estimation of an error parameter representative of an error on the at least one updated value for at least one of the gyrometer calibration parameters and, if and only if said error parameter is below a predetermined threshold, actual calibration of the gyrometer with the at least one updated value for at least one of the gyrometer calibration parameters.