Patent ID: 11860285
Assignee: SAFRAN
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 17:
18. A device for assisting the navigation of a fleet of vehicles comprising a main vehicle and a secondary vehicle movable relative to the main vehicle, the device comprising:
a receiving interface to receive data acquired by at least one sensor, the data comprising relative kinematic data between the main vehicle and the secondary vehicle,
a processing unit configured to implement an invariant Kalman filter so as to estimate a navigation state of the fleet of vehicles, wherein the invariant Kalman filter is configured to use the received data as observations, wherein the navigation state comprises: first variables representative of a first rigid transformation linking a frame attached to the main vehicle to a reference frame, and second variables representative of a second rigid transformation linking the frame attached to the main vehicle to a frame attached to the secondary vehicle, and wherein the invariant Kalman filter is configured to use as binary operation a term-by-term composition of the first rigid transformation and of the second rigid transformation.