Commissariat &#xc0; L'&#xc9;nergie Atomique Et Aux &#xc9;nergies Alternatives

Université Gustave Eiffel

Christophe Combettes

Christophe Villien

Valérie Renaudin

A method includes establishing, for a given time, measurement biases allowing an error affecting raw measurements of pseudoranges separating a navigation unit from at least three beacons to be decreased, and estimating an external position of the navigation unit at the given time based on: beacon positions, corrected pseudorange measurements computed for the given time using established measurement biases, and a preceding external position of the navigation unit estimated for a time preceding the given time. The measurement biases are established without taking into account the external position of the navigation unit.

Method for locating a navigation unit

A method for determining the position and orientation of a vehicle includes constructing, for several instants tranging between instants toand to, an estimate of the instantaneous value of the physical quantity on the basis of the measurements of an inertial navigation unit; constructing an estimate of the physical quantity for the instant toby computing the arithmetic mean of the constructed instantaneous values; computing a deviation between a measurement of the physical quantity obtained on the basis of the measurement of an odometer and an estimate of the physical quantity at the instant to; and correcting, as a function of the deviation computed for the instant to, estimated positions and orientations of the vehicle, in order to obtain a corrected position and a corrected orientation.

Growing community of inventors

Grenoble, France

Christophe Combettes