Patent ID: 9605966
Date: 2017-03-28
CPC Classifications: G01C,G01P

Claim:
1. A method for estimating an orientation of a path followed by a carrier of a movement sensor, the method comprising: determining an orientation of the movement sensor with respect to the path followed by the carrier; estimating, by processing circuitry, an orientation of the movement sensor with respect to a fixed reference linked to a terrestrial reference frame by measurements supplied by the movement sensor; estimating, by the processing circuitry, an orientation of the path followed by the carrier with respect to the fixed reference by the determined orientation of the movement sensor with respect to the path and the estimated orientation of the movement sensor with respect to the fixed reference; detecting a start and end of a phase of disorientation of the movement sensor with respect to the path; and updating, by the processing circuitry, after the detected end of the disorientation phase, the determined orientation of the movement sensor with respect to the path based on the orientation of the path with respect to the fixed reference as estimated at the detected start of the disorientation phase and based on the orientation of the movement sensor with respect to the fixed reference as estimated after the detected end of the disorientation phase.