NAVIGATION DEVICE AND PROCESS INTEGRATING SEVERAL HYBRID INERTIAL NAVIGATION SYSTEMS
First Claim
1. A hybrid navigation device for a vehicle, comprising:
- at least one auxiliary sensor (DET1) adapted to deliver at least one auxiliary signal representative of an auxiliary navigation parameter of the vehicle, anda plurality of hybrid navigation systems (INH1, INH2),each hybrid navigation system comprising at least one inertial navigation system comprising at least one inertial measuring unit (IMU-1, IMU-2), said inertial measuring unit (IMU-1, IMU-2) being adapted to deliver at least one signal representative of an inertial measurement, and each hybrid navigation system comprising at least one calculator (CALC-H1, CALC-H2) configured in such a manner to hybridize said at least one signal representative of an inertial measurement with said at least one auxiliary signal, to form a hybrid signal at the output of each hybrid navigation system (DATA1, DATA2),characterized in that;
said hybrid navigation device comprises a module (MOD) for the detection of good operating condition and the weighting of said hybrid navigation systems (INH1, INH2), said module (MOD) being configured in such a manner to receive, on the one hand, said at least one auxiliary signal, and on the other hand, said hybrid signals (DATA1, DATA2) at the output of each hybrid navigation system (INH1, INH2), respectively, and to deduce therefrom at least one indicator of good operating condition (STATUS) and a weighting coefficient for each hybrid navigation system (INH1, INH2), said weighting coefficient being respectively calculated as a function of a likelihood of the residue between said hybrid signal (DATA1, DATA2) and said auxiliary signal, and said module (MOD) being configured in such a manner to calculate a weighted hybrid signal (DATAOPT) as a function of said hybrid signals (DATA1, DATA2) and of the weighting coefficients of each hybrid navigation system, respectively.
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Abstract
A hybrid navigation device includes at least one auxiliary sensor adapted to deliver at least one auxiliary signal and a plurality of hybrid navigation systems, each including at least one inertial navigation system and one calculator configured to form an hybrid signal at the output of each hybrid navigation system. The hybrid navigation device includes a module for the detection of good operating condition and the weighting of the hybrid navigation systems, the module being configured to receive the at least one auxiliary signal, and the hybrid signals of each hybrid navigation system, respectively, to deduce therefrom an indicator of good operating condition and a weighting coefficient for each hybrid navigation system, and to calculate a weighted hybrid signal as a function of the hybrid signals and of the weighting coefficients of each hybrid navigation system, respectively.
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Citations
12 Claims
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1. A hybrid navigation device for a vehicle, comprising:
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at least one auxiliary sensor (DET1) adapted to deliver at least one auxiliary signal representative of an auxiliary navigation parameter of the vehicle, and a plurality of hybrid navigation systems (INH1, INH2), each hybrid navigation system comprising at least one inertial navigation system comprising at least one inertial measuring unit (IMU-1, IMU-2), said inertial measuring unit (IMU-1, IMU-2) being adapted to deliver at least one signal representative of an inertial measurement, and each hybrid navigation system comprising at least one calculator (CALC-H1, CALC-H2) configured in such a manner to hybridize said at least one signal representative of an inertial measurement with said at least one auxiliary signal, to form a hybrid signal at the output of each hybrid navigation system (DATA1, DATA2), characterized in that; said hybrid navigation device comprises a module (MOD) for the detection of good operating condition and the weighting of said hybrid navigation systems (INH1, INH2), said module (MOD) being configured in such a manner to receive, on the one hand, said at least one auxiliary signal, and on the other hand, said hybrid signals (DATA1, DATA2) at the output of each hybrid navigation system (INH1, INH2), respectively, and to deduce therefrom at least one indicator of good operating condition (STATUS) and a weighting coefficient for each hybrid navigation system (INH1, INH2), said weighting coefficient being respectively calculated as a function of a likelihood of the residue between said hybrid signal (DATA1, DATA2) and said auxiliary signal, and said module (MOD) being configured in such a manner to calculate a weighted hybrid signal (DATAOPT) as a function of said hybrid signals (DATA1, DATA2) and of the weighting coefficients of each hybrid navigation system, respectively. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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Specification