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

Claim 0:
1. A method for assisting the navigation of a first carrier stationary relative to a second carrier itself movable in a reference frame, the method comprising the following steps implemented by the first carrier:
receiving a navigation state in the reference frame of the second carrier provided by the second carrier,
acquiring movement data of the first carrier by at least one proprioceptive sensor of the first carrier, and
estimating a navigation state of the first carrier by an invariant Kalman filter using the navigation state of the second carrier as observation data,
wherein the navigation state of the first carrier 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 binary operation, and the operation comprises a term-by-term composition of the first rigid transformation and of the second rigid transformation.