Method for the autonomous calibration of an inertial rig used in static mode

An auto-calibration method of inertial equipment (1) comprising an inertial core (10) forming a sensor reference frame, said core comprising at least two gyroscopes,

• the method being executed during at least two successive missions (Mn, Mn+1) of the inertial equipment (1), each mission being a static phase comprising determination, from measurements of the gyroscopes (11), of the orientation of the equipment (1) in a geographic reference frame comprising the axis of the North (N) and the axis of the vertical (Up), the relative positions of the sensor reference frame (X,Y,Z) and of the geographic reference frame being different from one mission to the other,
• the method being characterized by carrying out:
• during a mission (Mn) of the equipment (1) estimation (200) of drift errors of the gyroscopes on the orientation of the equipment at least relative to the axis of the North (dgyrN), and
• during a following mission (Mn+1) of calculation of drift (400) error corrections (DXn) of the sensor reference frame (X,Y,Z), from drift errors estimated on the orientation of the equipment, and
• calculation of drift (Xn+1) errors (600) of the sensor reference frame (X,Y,Z) consisting of correcting by means of said corrections (DXn) of drift errors of the sensor reference frame, the drift errors (Xn) of the sensor reference frame having been calculated during the preceding mission (Mn).