The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 09, 2019
Filed:
Apr. 01, 2016
Safran Electronics & Defense, Boulogne-Billancourt, FR;
Association Pour LA Recherche Developpement Des Methodes ET Processus Industriels-a.r.m.i.n.e.s., Paris, FR;
Axel Barrau, Boulogne-Billancourt, FR;
Silvere Bonnabel, Paris, FR;
SAFRAN ELECTRONICS & DEFENSE, Boulogne-Billancourt, FR;
ASSOCIATION POUR LA RECHERCHE DEVELOPPEMENT DES METHODES ET PROCESSUS INDUSTRIELS-A.R.M.I.N.E.S., Paris, FR;
Abstract
A method for tracking the navigation of a mobile carrier, in which an extended Kalman filter estimates, over successive iterations, a navigation state of the carrier. Each iteration propagates a previous navigation state of the carrier into a propagated state, updates the propagated state according to measurements acquired by at least one navigation sensor. The updating includes: calculating a linear correction term from an innovation representative of a difference between the measurements acquired by the navigation sensor and the propagated state, calculating an exponential of the linear correction in terms of a Lie group, calculating a first correction term expressed in a reference frame that is fixed relative to the carrier, calculating a second correction term expressed in an inertial reference frame in which the carrier is mobile, and adding the second correction term to the value of the variable contained in the propagated state.