Patent ID: 11947021
Assignee: COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 11:
12. A locating system, configured to be attached to a vehicle, for determining a position and an orientation of said vehicle, said locating system comprising:
a satellite geopositioning unit configured to measure the position of the vehicle or the position and a speed of the vehicle,
an inertial navigation unit containing an accelerometer and a gyrometer to measure an acceleration and an angular velocity of the vehicle,
processing circuitry configured to integrate inertial measurements and to construct 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 circuitry configured to correct, using the measurements of the satellite geopositioning unit, the estimated position and the estimated orientation so as to obtain a first corrected position and a first corrected orientation, the first corrected orientation including a corrected yaw angle of the vehicle, and
substituting circuitry configured to
obtain a measured yaw angle of the vehicle that is independent of the angular velocity measurements taken by the gyrometer of the inertial navigation unit,
replace, in the first corrected orientation, the corrected yaw angle with the measured yaw angle, to obtain a second corrected orientation, and
deliver, 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,

wherein the processing circuitry is further configured to use, in a next construction of the estimated position and the estimated orientation of the vehicle, the first corrected position and the second corrected orientation by way of the previous position and the previous orientation, respectively.