US 12,189,044 B2
Method for navigating a carrier device using a Kalman filter estimating a navigation state of the carrier device
Loïc Davain, Moissy-Cramayel (FR); Kévin Honore, Moissy-Cramayel (FR); and Clément Misandeau, Moissy-Cramayel (FR)
Assigned to SAFRAN ELECTRONICS & DEFENSE, Paris (FR)
Appl. No. 17/798,454
Filed by Safran Electronics & Defense, Paris (FR)
PCT Filed Feb. 19, 2021, PCT No. PCT/FR2021/050301
§ 371(c)(1), (2) Date Aug. 9, 2022,
PCT Pub. No. WO2021/165626, PCT Pub. Date Aug. 26, 2021.
Claims priority of application No. 2001716 (FR), filed on Feb. 20, 2020.
Prior Publication US 2023/0094700 A1, Mar. 30, 2023
Int. Cl. G01S 19/39 (2010.01); G01S 19/22 (2010.01); G01S 5/02 (2010.01)
CPC G01S 19/393 (2019.08) [G01S 19/22 (2013.01); G01S 5/0294 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A method comprising:
obtaining a measured delta range between a carrier device and a satellite and another measured kinematic data associated with the satellite, from a positioning signal emitted by the satellite then received by the carrier device,
generating an estimated delta range between the carrier device and the satellite, from position data of the carrier device and the satellite contained in a navigation state of the carrier device estimated by a Kalman filter,
calculating a delta range innovation associated with the satellite, from the estimated delta range and the measured delta range,
carrying out a test on the delta range innovation; producing a test result indicating whether or not the positioning signal has followed a multi-path,
using the measured kinematic data associated with the satellite as an observation by the Kalman filter to update the navigation state of the carrier device on condition that the test result indicates that the positioning signal has not followed a multi-path.