The invention relates to a method for calibrating a detection device (10; 10'; 10"; 10'''; 10""; 10''') which is designed for three-dimensional geometric detection of an environment (60) and which contains at least one inertial measurement system (12) for ...

The present invention provides a data fusion architecture with a plurality of sensors (4 1 , 4 2 ... 4 M ), optionally position measuring equipment (PMEs). Each sensor supplies measurement data x 1 , x 2 ...x M and is associated with accuracy data H 1 , H ...