Patent ID: 11860285
Assignee: SAFRAN
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A method for assisting the navigation of a fleet of vehicles comprising a main vehicle and a secondary vehicle movable relative to the main vehicle, the method comprising:
receiving data acquired by at least one sensor, the received data comprising relative kinematic data between the main vehicle and the secondary vehicle,
estimating a navigation state of the fleet of vehicles by an invariant Kalman filter using the received data as observations, wherein the navigation state comprises:
first variables representative of a first rigid transformation linking a frame attached to the main vehicle to a reference frame, and
second variables representative of a second rigid transformation linking theft frame attached to the main vehicle to a frame attached to the secondary vehicle,

wherein the invariant Kalman filter uses as binary operation an operation comprising a term-by-term composition of the first rigid transformation and of the second rigid transformation.