METHOD AND DEVICE FOR AIDING THE NAVIGATION OF A FLEET OF VEHICLES USING AN INVARIANT KALMAN FILTER

摘要

The invention relates to a method for assisting the navigation of a fleet of vehicles comprising a main vehicle (1) and a secondary vehicle (2) movable relative to the main vehicle (1), comprising steps of: • reception kinematic data (Y1, Y2) between the main vehicle (1) and the secondary vehicle (2), acquired by at least one sensor (2, 12), • estimate (100, 200) of a navigation state of the fleet of vehicles by an invariant Kalman filter using the data received (Y1, Y2) as observations, the navigation state comprising ○ first variables representative of a first rigid transformation linking a reference point attached to the main vehicle (1) to a reference frame and ○ second variables representative of a second rigid transformation linking a frame attached to the main vehicle (1) to a frame attached to the secondary vehicle (2), the invariant Kalman filter using as a law of internal composition a law comprising a term-to-term composition of the first rigid transformation and the second rigid transformation.