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Jean-Philippe Michel

Pierre D'harcourt

Fabien Napolitano

Sophie Glevarec

Guillaume Picard

Martin Puchol

Rosalie Fuchs

Stéphane Meyer

Damien Ponceau

This relates to a device and method for estimating the location of a guided vehicle along a guide, the device including: an attitude sensor of the guided vehicle providing values of attitude component measurements of the vehicle; a memory for storing virtual attitude beacon data including values of one or more of the attitude components of the virtual attitude beacon and at least one virtual attitude beacon attribute value, including at least one position attribute value of the beacon; and a processor configured to perform an activity of a virtual attitude beacon reader, le virtual attitude beacon reader comparing the stored virtual attitude beacon data and the vehicle attitude measurement values in order to detect an instance of a measurement value of the corresponding attitude component exceeding a value of an attitude component of the virtual attitude beacon data, the attitude component advantageously being the geographic heading.

Device and method for estimating the location of a vehicle guided along a curvilinear guide

In a method for calculating, by an estimator, an instantaneous velocity vector {right arrow over (V)} of a rail vehicle, the estimator receives measurements from an inertial unit at a fixed point in the vehicle body and determines a mathematical model M of the dynamics of the vehicle moving on a track, the model being dependent on the bias of the inertial unit and installation parameters, a virtual sensor is determined based on the model M, the virtual sensor enabling calculation, from model parameters, two theoretical transverse velocities δv, and δvalong axes yand z, respectively. An iterative estimator calculates {right arrow over (V)}, and includes the virtual sensor, the estimator being configured so the two theoretical transverse velocities are zero regardless of the rail configurations, the estimator enabling correction of the biases of the inertial unit and estimate installation parameters. Auxiliary velocity or distance travelled sensors are not used to calculate {right arrow over (V)}.

Method for calculating an instantaneous velocity vector of a rail vehicle and corresponding system

Disclosed is a positioning system including: several inertial measurement units; at least one common sensor, providing a measurement of a positioning parameter of a system; for each inertial measurement unit, a navigation filter configured to: a) determine an estimate of the positioning parameter, on the basis of an inertial signal provided by the inertial measurement unit; and to b) correct the estimate, as a function of the measurement and of a correction gain that is determined on the basis of an augmented variance higher than the variance of a measurement noise of a common sensor; and&#x2014;at least one fusion module determining a mean of the estimates, the mean being not reinjected at the input of the navigation filters. Also disclosed is an associated positioning method.

Positioning system, and associated method for positioning

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Saint Germain-en-Laye, France

Jean-Philippe Michel