Patent ID: 7911380
Filing Date: 2011-03-22
Classification: G01C,G01S

Abstract:
1. A method of positioning a moving body by combining inertial data ({right arrow over (u)}) with data ({right arrow over ({circumflex over (r)} m ) concerning the ranges between the moving body and satellites, the method being characterized by the following steps: storing the range data in a FIFO memory ( combining the delayed range data with the inertial data to obtain an estimate ({right arrow over ({circumflex over (x)}) for position data of the moving body; watching for the appearance of a fault (DSi) in the range data, and when such a fault is detected, modifying at least some of the data stored in the FIFO memory to reduce or eliminate its weight in the combination operation; and storing estimated satellite range data ({right arrow over ({circumflex over (r)}) as a function of inertial data and as a function of satellite ephemerides in a second FIFO memory (