METHOD AND DEVICE FOR AIDING THE NAVIGATION OF A CARRIER USING AN INVARIANT KALMAN FILTER AND A NAVIGATION STATE OF A SECOND CARRIER

摘要

The invention relates to a method of aiding the navigation of a first carrier (1) stationary relative to a second carrier (2) movable in a reference frame, comprising the acquisition (112) of movement data of the first carrier (1) by at least one proprioceptive sensor (6), and the estimation of a navigation state (X1) of the first carrier (1) by an invariant Kalman filter using a navigation state (X2) of the second carrier (2) as an observation, the navigation state of the first carrier (1) comprising variables representing a rigid transformation (T1)) linking a first frame attached to the first carrier (1) to the reference frame, and variables representing a transformation rigid (T21) linking a frame attached to the second carrier (2) to the first frame, the invariant Kalman filter using as law of internal composition a law comprising a term-to-term composition of the two rigid transformations.