NAVIGATION ASSISTANCE METHOD AND DEVICE BASED ON A KALMAN FILTER

Abstract: method for monitoring the navigation of a vehicle for the implementation of a navigation maneuver: the method including the steps of: estimating a magnitude by a kalman filter from parameters, a digital model of the vehicle in its environment, and at least one measurement made by at least one sensor and associated with an uncertainty on this measurement, the magnitude serving to implement the navigation maneuver; determining at least one partial derivative value of the magnitude with respect to the at least one measurement; obtaining at least one criticality value of the at least one measurement for the estimation, from the at least one partial derivative.

Inventor(s): Axel BARRAU, Colin PARELLIER, Silvère BONNABEL

CPC Classification: G01C21/165 ({combined with non-inertial navigation instruments})

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