Hybrid inertial system with non-linear behaviour and associated hybridising method using multi-hypothesis filtering

摘要

The system has a multi-hypothesis hybridization filter for implementing initialization, update, propagation, determination and calculation phases. The extended Kalman filtering is performed, and an updated state vector is produced in the update phase. The Kalman filtering is propagated, and a propagated state vector is produced in the propagation phase. The likelihood of the updated state vector is determined in the determination phase. The inertial corrections of the position and motion errors of a mobile carrier are produced in the calculation phase. An independent claim is also included for a method for hybridization of an inertial system by multi-hypothesis filtering.