US 11,860,285 B2
Method and device for assisting with the navigation of a fleet of vehicles using an invariant Kalman filter
Axel Barrau, Moissy-Cramayel (FR)
Assigned to SAFRAN, Paris (FR)
Appl. No. 17/262,392
Filed by SAFRAN, Paris (FR)
PCT Filed Jul. 23, 2019, PCT No. PCT/FR2019/051827
§ 371(c)(1), (2) Date Jan. 22, 2021,
PCT Pub. No. WO2020/021195, PCT Pub. Date Jan. 30, 2020.
Claims priority of application No. 1856803 (FR), filed on Jul. 23, 2018.
Prior Publication US 2021/0293978 A1, Sep. 23, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G01S 19/39 (2010.01); G01S 19/48 (2010.01); G01C 21/16 (2006.01); G01S 19/43 (2010.01); G01S 19/51 (2010.01); G01S 19/54 (2010.01); G01S 19/38 (2010.01); G01S 19/42 (2010.01); G05D 1/02 (2020.01); G06F 7/42 (2006.01); G06F 7/40 (2006.01)
CPC G01S 19/393 (2019.08) [G01C 21/1652 (2020.08); G01S 19/38 (2013.01); G01S 19/428 (2013.01); G01S 19/43 (2013.01); G01S 19/485 (2020.05); G01S 19/51 (2013.01); G01S 19/54 (2013.01); G05D 1/0291 (2013.01); G06F 7/405 (2013.01); G06F 7/42 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for assisting the navigation of a fleet of vehicles comprising a main vehicle and a secondary vehicle movable relative to the main vehicle, the method comprising:
receiving data acquired by at least one sensor, the received data comprising relative kinematic data between the main vehicle and the secondary vehicle,
estimating a navigation state of the fleet of vehicles by an invariant Kalman filter using the received data as observations, wherein the navigation state comprises:
first variables representative of a first rigid transformation linking a frame attached to the main vehicle to a reference frame, and
second variables representative of a second rigid transformation linking theft frame attached to the main vehicle to a frame attached to the secondary vehicle,
wherein the invariant Kalman filter uses as binary operation an operation comprising a term-by-term composition of the first rigid transformation and of the second rigid transformation.