METHODS AND APPARATUS FOR CALIBRATING THE ZERO RATE OUTPUT OF A SENSOR

A method for calibrating zero rate offset (ZRO) of a first inertial sensor located on a device, the method includes determining a stability level of the device based on information associated with at least one non-inertial sensor located on the device; and performing a calibration of the ZRO of the first inertial sensor when the stability level is above a threshold.