Method for calibrating a detection device and detection device

The invention relates to a method for calibrating a detection device (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 preliminary computational determination of a trajectory (50) of the detection device (10; 10'; 10''; 10'''; 10''''). The method comprises the following steps: a) i) positioning and/or orientation of the detection device (10; 10'; 10''; 10'''; 10'''') in a relative position and/or relative orientation to at least one reference point (40), which is characterized by at least one predetermined relative coordinate, or ii) determination of at least one relative coordinate which characterizes the relative position and/or the relative orientation of the detection device (10; 10'; 10''; 10'''; 10'''') to at least one reference point (40); b) determination of at least one error quantity which characterizes the deviation of the at least one relative coordinate according to step a) from the relative coordinate(s) preliminarily computationally determined by the inertial measurement system (12); c) if the error quantity fulfills a predetermined correction criterion: correction of the trajectory (50) preliminarily computationally determined by the inertial measurement system (12).