Patent ID: 8229661
Filing Date: 2012-07-24
Classification: G01C,G01S

Abstract:
1. Hybrid inertial system onboard a mobile carrier, the system comprising an inertial measurements unit delivering at least one of an angle variation measurements Δθ and a speed variation measurements ΔV, at least one platform for integrating inertial data receiving the at least one of the angle variation measurements Δθ and the speed variation measurements ΔV and producing instantaneous measurements of at least one of the location and of the navigation of the said mobile carrier, at least one exterior sensor delivering observation measurements of the location and/or of the navigation of the said mobile carrier and a multi-hypothesis hybridization filter receiving the said instantaneous measurements and the said observation measurements and delivering corrections to the platforms for integrating inertial data which deliver a hybrid estimation of the location and/or of the navigation of the said mobile carrier, wherein said multi-hypothesis hybridization filter implements at least the following steps: an initialization step performing the generation of a plurality of state vectors XP an update step executing, for each of the said state vectors, the phase of readjusting an extended Kalman filtering and producing as output an updated state vector XE a propagation step executing, for each of the said state vectors, the phase of propagation of an extended Kalman filtering and producing as output a propagated state vector XP a step of determining the likelihood q a corrections calculation step receiving the plurality of propagated state vectors XP