The invention relates to a method for assisting with the navigation of a first vehicle (1) that is stationary in relation to a second vehicle (2) which is mobile within a reference frame, said method involving acquiring (112) movement data on the first vehicle (1) by at least one proprioceptive sensor (6), and estimating a navigation status (X1) of the first vehicle (1) by an invariant Kalman filter using a navigation status (X2) of the second vehicle (2) as an observation, the navigation status of the first vehicle (1) comprising variables that represent a rigid transformation (T1) linking a first location mark associated with the first vehicle (1) to the reference frame, and variables that represent a rigid transformation (T21) linking a location mark associated with the second vehicle (2) to the first location mark, the invariant Kalman filter using, as an internal composition law, a law comprising a term-by-term composition of the two rigid transformations.
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机译：本发明涉及一种用于辅助相对于在参考框架内移动的第二车辆（2）静止的第一车辆（1）的导航的方法，所述方法包括获取（112）第一车辆的运动数据。车辆（1）的至少一个本体感受传感器（6），并通过不变卡尔曼滤波器使用以下方法估算第一车辆（1）的导航状态（ X 1 ）：作为观察的第二辆车（2）的导航状态（ X 2 ），第一辆车（1）的导航状态包括代表刚性变换的变量（ T 1 ）将与第一辆车（1）关联的第一位置标记链接到参考系，以及代表刚性变换的变量（ T 21 ）将与第二辆车（2）关联的位置标记与第一位置标记（不变卡尔曼滤波器）关联起来，该卡尔曼滤波器使用内部定律（包括内部术语） m由两个刚性变换组成。
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