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

Claim 4:
5. The system according to claim 4, wherein:
for several instants tk ranging between the instants toj−1 and toj, the integration module constructs an observation matrix of the instantaneous value of the physical quantity at this instant tk, on a basis of the measurements of the acceleration and of the angular speed acquired at this instant tk; then
the estimate of the physical quantity constructed for the instant toj is obtained by executing a computation of the arithmetic mean of the instantaneous values constructed for the instants tk ranging between the instants toj−1 and toj;
for the instant toj, the correction module:
computes an observation matrix of a mean value of the physical quantity by computing an arithmetic mean of the observation matrices of the instantaneous value of the physical quantity constructed for the instants tk ranging between the instants toj−1 and toj; then
computes a gain of the Kalman filter on a basis of the observation matrix of the mean value of the physical quantity; then
updates the correction coefficients as a function of the computed gain.