HYBRID INERTIAL SYSTEM WITH NON-LINEAR BEHAVIOUR AND ASSOCIATED METHOD OF HYBRIDIZATION BY MULTI-HYPOTHESIS FILTERING

摘要

Hybrid inertial system onboard a mobile carrier comprising an inertial measurements unit, at least one platform for integrating inertial data, at least one exterior sensor and a multi-hypothesis hybridization filter, the said system being characterized in that the said hybridization filter implements at least the following steps:an initialization step performing the generation of a plurality of state vectorsan update step executing, for each of the said state vectors, the phase of readjusting an extended Kalman filteringa propagation step executing, for each of the said state vectors, the phase of propagation of an extended Kalman filteringa step of determining the likelihood q_lt of the said updated state vectora step of calculating inertial corrections.