Patent ID: 7911380

Claim:
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 ( 10 ) so as to have delayed range data available at the output from the 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 ( 13 ) to have delayed estimates available at the output from said memory, the capacities of the two FIFO memories being equivalent so that the greatest delay value for the delayed estimate is identical to the greatest delay value for the delayed range data.