US 11,941,079 B2
Vehicle navigation assistance method and device using an invariant Kalman filter and a navigation status of a second vehicle
Emmanuel Robert, Boulogne-Billancourt (FR); Axel Barrau, Boulogne-Billancourt (FR); and Thomas Bernal, Boulogne-Billancourt (FR)
Assigned to SAFRAN ELECTRONICS & DEFENSE, Boulogne-Billancourt (FR)
Appl. No. 17/262,562
Filed by SAFRAN ELECTRONICS & DEFENSE, Boulogne-Billancourt (FR)
PCT Filed Jul. 23, 2019, PCT No. PCT/FR2019/051826
§ 371(c)(1), (2) Date Jan. 22, 2021,
PCT Pub. No. WO2020/021194, PCT Pub. Date Jan. 30, 2020.
Claims priority of application No. 1856802 (FR), filed on Jul. 23, 2018.
Prior Publication US 2021/0295718 A1, Sep. 23, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G06F 18/2113 (2023.01); G01S 19/39 (2010.01); G01S 19/51 (2010.01); G01S 19/52 (2010.01); G05D 1/00 (2006.01); G06F 7/40 (2006.01); G06F 7/42 (2006.01); G08G 5/00 (2006.01)
CPC G06F 18/2113 (2023.01) [G01S 19/393 (2019.08); G01S 19/51 (2013.01); G01S 19/52 (2013.01); G05D 1/101 (2013.01); G06F 7/405 (2013.01); G06F 7/42 (2013.01); G08G 5/0047 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method for assisting the navigation of a first carrier stationary relative to a second carrier itself movable in a reference frame, the method comprising the following steps implemented by the first carrier:
receiving a navigation state in the reference frame of the second carrier provided by the second carrier,
acquiring movement data of the first carrier by at least one proprioceptive sensor of the first carrier, and
estimating a navigation state of the first carrier by an invariant Kalman filter using the navigation state of the second carrier as observation data,
wherein the navigation state of the first carrier comprises:
first variables representative of a first rigid transformation linking a frame attached to the first carrier to the reference frame, and
second variables representative of a second rigid transformation linking a frame attached to the second carrier to the frame attached to the first carrier, and
wherein the invariant Kalman filter uses binary operation, and the operation comprises a term-by-term composition of the first rigid transformation and of the second rigid transformation.