SENSOR FUSION SYSTEM AND METHOD FOR ESTIMATING POSITION, SPEED AND ORIENTATION OF A VEHICLE, IN PARTICULAR AN AIRCRAFT

摘要

This invention relates to a system for estimating the position, speed and orientation of a vehicle (10), comprising means for determining the components of two noncollinear constant unit vectors according to vehicle body axes means for determining the components of said noncollinear constant unit vectors g t , e t according to Earth's axes means for determining the three components of angular velocity of the vehicle in body axes means for correcting said angular velocity with a correction u É and obtaining a corrected angular velocity a control module (14) implementing a control law to calculate said correction u É , where said control law is: where à is a positive scalar, such that upon using said corrected angular velocity as input to a module for integrating the kinematic equations, the latter are stable in the ISS sense and the error in the estimation of the direction cosine matrix B and of the Euler angles | is bounded.