Hybridization device with segregated kalman filters
First Claim
1. Hybridization device (1) comprisinga virtual platform calculating inertial measurements, a bank of Kalman filters each formulating a hybrid navigation solution on the basis of inertial measurements of the virtual platform and of measurements of signals emitted by a constellation of satellites delivered by a satellite positioning system for each filter of the bank, a module for correcting the satellite measurements,which receives at the input the hybrid navigation solutions formulated by the filters and the measurements corresponding to the set of the constellation delivered by the satellite positioning systemdelivers to the filter the measurements of the satellite positioning system which are used by the filter alter 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.
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Citations
12 Claims
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1. Hybridization device (1) comprising
a virtual platform calculating inertial measurements, a bank of Kalman filters each formulating a hybrid navigation solution on the basis of inertial measurements of the virtual platform and of measurements of signals emitted by a constellation of satellites delivered by a satellite positioning system for each filter of the bank, a module for correcting the satellite measurements, which receives at the input the hybrid navigation solutions formulated by the filters and the measurements corresponding to the set of the constellation delivered by the satellite positioning system delivers to the filter the measurements of the satellite positioning system which are used by the filter alter correction with the aid of the hybrid navigation solution formulated by the filter.
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12. 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 and of measurements of signals emitted by a constellation of satellites delivered by a satellite positioning system, wherein for each filter of the bank, a module for correcting the satellite measurements, which
receives at the input the hybrid navigation solutions formulated by the filters and the measurements corresponding to the set of the constellation delivered by the satellite positioning system delivers to the filter the measurements of the satellite positioning system which are used by the filter after correction with the aid of the hybrid navigation solution formulated by the filter the satellite used by each filter of the bank are corrected beforehand with the aid of the hybrid navigation solution formulated by the filter.
Specification