US 11,947,021 B2
Method for determining the position and orientation of a vehicle
Christophe Villien, Grenoble (FR)
Assigned to Commissariat à l'Energie Atomique et aux Energies Alternatives, Paris (FR)
Filed by Commissariat à l'Energie Atomique et aux Energies Alternatives, Paris (FR)
Filed on Feb. 10, 2021, as Appl. No. 17/172,278.
Claims priority of application No. 20 01719 (FR), filed on Feb. 21, 2020.
Prior Publication US 2021/0263162 A1, Aug. 26, 2021
Int. Cl. G01S 19/31 (2010.01); G01S 19/35 (2010.01)
CPC G01S 19/31 (2013.01) [G01S 19/35 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A method for determining a position and an orientation of a vehicle using a locating system attached to the vehicle, said locating system comprising a satellite geopositioning unit, an inertial navigation unit, processing circuitry to integrate inertial measurements, and correcting circuitry, said method comprising:
measuring, with the satellite geopositioning unit, the position of the vehicle or the position and a speed of the vehicle,
measuring, with the inertial navigation unit, an acceleration and an angular velocity of the vehicle,
constructing, with the processing circuitry, an estimated position and an estimated orientation of the vehicle from a previous position and a previous orientation of the vehicle and using the measurements of the acceleration and the angular velocity taken since said previous position and said previous orientation of the vehicle,
correcting, with the correcting circuitry and using the measurements of the satellite geopositioning unit, the estimated position and the estimated orientation to obtain a first corrected position and a first corrected orientation, the first corrected orientation including a corrected yaw angle of the vehicle, wherein the method further comprises:
obtaining, with the locating system, a measured yaw angle of the vehicle that is independent of the angular velocity measurements taken by the inertial navigation unit,
replacing, in the first corrected orientation, the corrected yaw angle with the measured yaw angle, to obtain a second corrected orientation, and
delivering, to an output of the locating system, the first corrected position and the second corrected orientation by way of the estimated position and the estimated orientation determined for the vehicle, respectively, and using, on a next execution of the constructing step, the first corrected position and the second corrected orientation by way of the previous position and the previous orientation, respectively.