Integrated closed-loop hybridization device built in by construction

1. A hybridization device ( 1 ) comprising:

a virtual platform ( 2 ),

a bank ( 3 ) of Kalman filters each estimating a correction vector (dX 0 -dXn),each correction vector comprising a plurality of components,

the device delivering a hybrid output (SH) corresponding to inertial measurements (PPVI) calculated by the virtual platform ( 2 ) and corrected by a stabilization vector (dC), the stabilization vector (dC) comprising as many components as the correction vectors so that each component of the stabilization vector has a corresponding component in each of the correction vectors (dX 0 -dXn),

a module for formulating the correction ( 4 ) configured so as to compute each of the components (dc[state]) of the stabilization vector (dC) as a function of the set of components (dC[state]-dXn[state]) in the correction vectors (dX 0 -dXn) estimated by the bank of Kalman filters.

2. The device according to claim 1 , wherein the module for formulating the correction ( 4 ) is configured, for each component of the stabilization vector (dC[state]), so as:

to analyze the sign of the set of components (dX 0 [state]-dXn[state]) in the correction vectors;

when the set of said components are not of same sign, to compute a component of zero value (dC[state]=0) for the stabilization vector;

when the set of said components are of same sign, to compute a component of non zero value for the stabilization vector, determined as a function of the value components in the correction vectors.

3. The device according to claim 2 , wherein:

when the set components are positive, the non zero value of the component of the stabilization vector (dC[state]) is computed as the minimum of the set of components (dX 0 [state]-dXn[state]) in the correction vectors,

when the set of said components are negative, the non-zero value of the component of the stabilization vector (dC[state]) is computed as the maximum of the set of components in the correction vectors.

4. The device according to claim 2 , wherein:

P being an integer which is more or equal than 2;

the non-zero value of the component of the stabilization vector is computed as the average of the smallest P components among components (dX 0 [state]-dXn[state])in the correction vectors, taken in absolute value.

5. The device according to claim 1 ,wherein the stabilization vector is applied at the input of the set of filters of the bank of filters.

6. The device according to claim 1 , wherein the hybrid output is re-looped at the input of the virtual platform.

7. The device according to claim 1 , wherein the bank of Kalman filters ( 3 ) comprises a main Kalman filter ( 5 ) receiving the signal measurements emitted by n satellites, and n secondary Kalman filters ( 6 i , 6 n ) each receiving the signal measurements emitted by the N satellites with the exception of one satellite.

8. The device according to claim 1 , further comprising a bank of summing devices ( 7 ) positioned at the output of the bank of filters to add to each correction vector the hybrid output.

9. The Method for formulating a stabilization vector intended to correct inertial measurements calculated by a virtual platform of a hybridization device, wherein:

a bank ( 3 ) of Kalman filters each estimates a correction vector (dX 0 -dXn),each correction vector comprising a plurality of components,

the stabilization vector comprising as many components as the correction vectors so that each component of the stabilization vector has a corresponding component in each of the correction vectors (dX 0 -dXn), the stabilization vector being computed component by component, and

each component (dC[state]) of the stabilization vector (dC) is computed as a function of the set of components (dX 0 [state]-dXn[state]) in the correction vectors (dX 0 -dXn) estimated by the bank of Kalman filters.