Patent ID: 11892296
Assignee: COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 2:
3. The system according to claim 1, wherein:
for each instant toj, the correction module updates correction coefficients of the position and of the orientation estimated by the integration module, as a function of the deviation computed for the instant toj, said correction coefficients then no longer being updated as a function of a deviation computed on a basis of the angular speed measured by the odometer until the next instant toj+1; then
the correction module uses the updated correction coefficients for the instant toj to correct the positions and orientations estimated by the integration module for an instant tk equal to the instant toj or ranging between the instants toj and toj−1; and
for several instants tk ranging between the instants toj and toj+1, the integration module constructs the estimate of the instantaneous value of the physical quantity at the instant tk by using the measurements of the acceleration and of the angular speed acquired at this instant tk.