Granted Patent B2

US 12,540,821 · App. 18/281,395 · Granted Feb 3, 2026

Inventor: Axel Barrau (Moissy-Cramayel, FR)

Assignee: SAFRAN

G01C21/165

Abstract

Claims (59)

1 . A method of assisting navigation of a vehicle equipped with a navigation device comprising a measurement device of a position of the navigation device and an inertial measurement unit configured to measure an angular velocity of the navigation device, a rotation matrix Ω n of the navigation device being derived from the angular velocity, the method comprising:

acquiring a priori values of kinematic variables of the navigation device, the kinematic variables comprising

a position of the navigation device, a current value of which being a current position vector X n , and

an orientation of the navigation device, a current value of which being a current orientation matrix T n function of the rotation matrix Ω n ;

determining, using a Kalman filter, respective current values of kinematic variables of the navigation device and a current uncertainty matrix representative of an uncertainty of the respective current values of the kinematic variables, from respective preceding values of the kinematic variables,

determining a virtual observation function from a measurement of the position of the navigation device Yn in a reference frame, as

{tilde over (Y)} n =T n T ( Y n −X n ),

obtaining an observation matrix by applying a limited first-order expansion to the virtual observation function,

obtaining a gain matrix dependent on the measurement from the observation matrix,

determining a correction from:

the respective current values of the kinematic variables,

the current uncertainty matrix,

the measurement of one of the kinematic variables,

the gain matrix dependent on the measurement,

updating, using the Kalman filter, the respective current values of the kinematic variables from the correction and the current uncertainty matrix.

2 . The method according to claim 1 , wherein the measurement of one of the kinematic variables is a measurement of position of the vehicle.

3 . The method according to claim 1 , wherein the observation matrix has the following form

H n =(( Y n )×0 3 −I 3 )

where Yn is the measurement (Y n ) × corresponds to an asymmetric matrix produced with the components of the measurement Yn, such that for any vector u (Y n ) × u=Y n ×u where × is a vector product, 0 3 is a zero matrix of dimension 3×3, and I 2 is an identity matrix of dimension 3×3.

4 . The method according to claim 1 , the kinematic variables further comprising:

a velocity of the navigation device, a current value of which is a current velocity vector and a preceding value of which is a preceding velocity vector and

wherein

a preceding value of the orientation of the navigation device is a preceding orientation matrix; and

a preceding value of the position of the navigation device is a preceding position vector, the current uncertainty matrix being representative of an uncertainty of the current orientation matrix, the current velocity vector and the current position vector, and

a preceding uncertainty matrix being representative of an uncertainty of the preceding orientation matrix, the preceding velocity vector and the preceding position vector.

5 . The method according to claim 4 , wherein the current values are associated with a current time, the preceding values are associated with a preceding time, and determining the respective current values of the kinematic variables comprises:

determining the current velocity vector by addition, to the preceding velocity vector, of an integration over a time interval between the preceding time and the current time, of a sum of a force specific to the navigation device and a model of Earth gravity experienced by the navigation device,

determining the current position vector by addition, to the preceding position vector, of an integration over the time interval, of the preceding velocity vector,

determining the current orientation matrix by multiplication of the preceding orientation matrix with a matrix representative of a rotation of the navigation device, and/or

determining the current uncertainty matrix on the basis of the preceding uncertainty matrix.

6 . The method according to claim 4 , the measurement being a measurement of a position of the navigation device, and wherein determining the correction comprises:

subtracting the current position vector and the measurement of the position, and

multiplying the subtraction by the gain matrix.

7 . The method according to claim 4 , wherein the correction is a correction vector, and wherein updating the respective current values comprises:

updating the current orientation matrix by multiplication of a rotation matrix of a first part of the correction vector and the current orientation matrix,

updating of the current velocity vector by adding, to a second part of the correction vector, a multiplication of the rotation matrix of the first part of the correction vector and the current velocity vector, and/or

updating the current position vector by addition, to a third part of the correction vector, of a multiplication of the rotation matrix of the first part of the correction vector and the current position vector.

8 . The method according to claim 4 , wherein

the respective current values of the kinematic variables are first respective current values of the kinematic variables,

the respective preceding values of the kinematic variables are first respective preceding values of the kinematic variables,

the correction is a first correction,

the first measurement of one of the kinematic variables is a first measurement of one of the kinematic variables,

the gain matrix is a first gain matrix,

the method further comprising:

determining second respective current values of the kinematic variables of the navigation device, from second respective preceding values of the kinematic variables,

determining a second correction from:

second respective current values of the kinematic variables,

a second measurement of one of the kinematic variables and

a second gain matrix,

updating the second respective current values of the kinematic variables from the second correction.

9 . The method according to claim 8 , further comprising determining respective consolidated values of the kinematic variables from the first respective current values of the kinematic variables and the second respective current values of the kinematic variables.

10 . The method according to claim 9 , wherein determining respective consolidated values of the kinematic variables comprises determining a similarity between the first corrected values and the second corrected values and, when the similarity exceeds a threshold, averaging the first corrected values and the second corrected values or weighted averaging of the first corrected values and the second corrected values or selecting the first corrected values or the second corrected values.

11 . A navigation device comprising:

a processing unit,

three accelerometers,

three gyroscopes, and

a measurement device of a position of the navigation device,

the processing unit being configured to implement the method of claim 1 .

12 . A computer program stored in a computer readable medium comprising program code instructions for executing the method of claim 1 .

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (12)