Method for detecting parasitic movements during static alignment of an inertial measurement unit, and associated detection device

Abstract

The present invention concerns a method for detecting parasitic movements during static alignment of an inertial measurement unit (), the method being characterised by steps of: receiving radio navigation measurements acquired () by a receiver () from signals previously transmitted by a set of radio navigation satellites (S), estimating () a movement of the inertial measurement unit from the acquired measurements, comparing () the estimated movement with a predefined threshold, indicating () a parasitic movement of the inertial measurement unit when the movement crosses the predefined threshold, in which the estimation () of the movement of the inertial measurement unit () from the acquired measurements comprises the following steps, implemented by the data processing unit for each satellite: calculating () a position variation from a phase of a first radio navigation signal transmitted by the satellite and received by the receiver at an initial reception time, and from a phase of a second radio navigation signal emitted by the satellite and received by the receiver at a subsequent reception time, estimating () a movement of the receiver relative to the satellite between the initial reception time and the subsequent reception time, calculating () a deviation between the calculated position variation and the estimated movement of the receiver relative to the satellite, the estimated movement of the inertial measurement unit depending on this deviation.