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

Claim 15:
16. A device for assisting the navigation of a first carrier stationary relative to a second carrier itself movable in a reference frame, the device comprising:
at least one proprioceptive sensor configured to acquire movement data of the first carrier,
a communication interface for receiving a navigation state of the second carrier provided by the second carrier, and
an invariant Kalman filter configured to estimate a navigation state of the first carrier by using the navigation state of the second carrier as observation data,
wherein the navigation state comprises:
first variables representative of a first rigid transformation linking a frame attached to the first carrier to the reference frame, and
second variables representative of a second rigid transformation linking a frame attached to the second carrier to the frame attached to the first carrier, and
wherein the invariant Kalman filter uses a binary operation, and the operation comprises a term-by-term composition of the first rigid transformation and of the second rigid transformation.