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

Claim 6:
7. The method according to claim 1, wherein the invariant Kalman filter uses an innovation comprising a vector Zx with the form:

Zx=log({circumflex over (T)}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, and
log(⋅) designates a logarithm map of a Lie group.