Patent ID: 7689357

Claim:
A closed loop hybridising device, comprising: a Kalman filter bank, a virtual platform, a calculating device to calculate pseudo-measurements estimated a priori, said calculating device receiving inertial increments and pseudo-measurements at its input, and outputting inertial measurements calculated by the virtual platform to which corrections are applied on its output, wherein said Kalman filter bank comprises: a principal Kalman filter adapted to the calculation of corrections to be applied to inertial measurements starting from all available pseudo-measurements; at least n secondary Kalman filters, where n is equal to the number of available pseudo-measurements, each secondary Kalman filter being adapted to the calculation of corrections to be applied to inertial measurements from a sub-set of available pseudo-measurements; the corrections originating from: either the principal Kalman filter when no pseudo-measurement is declared to be erroneous; or the secondary Kalman filter not affected by an erroneous pseudo-measurement; said corrections being applied simultaneously to inertial measurements and to the input to all other Kalman filters in the Kalman filter bank.