Patent ID: 11941079
Assignee: SAFRAN ELECTRONICS & DEFENSE
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 9:
10. The method according to claim 9, wherein the invariant Kalman filter uses an innovation comprising a vector Zx with the form:

Zx=log({circumflex over (T)}1−1○Y○{circumflex over (T)}21)

where:
{circumflex over (T)}1 is an estimate of the first variables,
{circumflex over (T)}21 is an estimate of the second variables, wherein the second rigid transformation is a transformation from the frame attached to the first carrier to the frame attached to the second carrier,
Y designates the observation data used by the invariant Kalman filter,
○ designates a composition,
log(⋅) designates a logarithm map of a Lie group, and

wherein the vector Zv consists of a first vector ZRv of size 3 representative of a rotation of the first carrier and the second carrier and of a second vector Zvv of size 3 representative of a rotation of the first carrier and the second carrier as well, and wherein the invariant Kalman filter uses an innovation Z with the form:, Z
  =
  
   (
   
    
     
      
       Z
       x
      
     
    
    
     
      
       Z
       ν
       ν
      
     
    
   
   )