HYBRIDIZATION DEVICE WITH SEGREGATED KALMAN FILTERS
First Claim
1. Hybridization device (1) comprising a virtual platform (2) calculating inertial measurements (PPVI), a bank (3) of Kalman filters each formulating a hybrid navigation solution on the basis of inertial measurements of the virtual platform (2) and of measurements of signals emitted by a constellation, of satellites delivered by a satellite positioning system (GNSS), characterised in that it comprises, for each filter of the bank, a module for correcting the satellite measurements (4) delivering to the filter the measurements of the satellite positioning system (GNSS) which are used by the filter after correction with the aid of the hybrid navigation solution formulated by the filter.
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Abstract
The invention relates according to a first aspect to a hybridization device (1) comprising a virtual platform (2) calculating inertial measurements (PPVI), a bank (3) of Kalman filters each formulating a hybrid navigation solution on the basis of the inertial measurements of the virtual platform (2) and of measurements of signals emitted by a constellation of satellites, which measurements are delivered by a satellite positioning system (GNSS), characterized in that it comprises, for each filter of the bank, a module for correcting the satellite measurements (4) delivering to the filter the measurements of the satellite positioning system (GNSS) which are used by the filter after correction with the aid of the hybrid navigation solution formulated by the filter.
12 Citations
13 Claims
- 1. Hybridization device (1) comprising a virtual platform (2) calculating inertial measurements (PPVI), a bank (3) of Kalman filters each formulating a hybrid navigation solution on the basis of inertial measurements of the virtual platform (2) and of measurements of signals emitted by a constellation, of satellites delivered by a satellite positioning system (GNSS), characterised in that it comprises, for each filter of the bank, a module for correcting the satellite measurements (4) delivering to the filter the measurements of the satellite positioning system (GNSS) which are used by the filter after correction with the aid of the hybrid navigation solution formulated by the filter.
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13. INS/GNSS hybridization method implementing a bank of Kalman filters each formulating a hybrid navigation solution on the basis of inertial measurements calculated by a virtual platform (2) and of measurements of signals emitted by a constellation of satellites delivered by a satellite positioning system (GNSS), characterised in that the satellite measurements used by each filter of the bank are corrected beforehand with the aid of the hybrid navigation solution formulated by the filter.
Specification