| 摘要 |
The invention proposes a method for tracking the navigation of a mobile carrier, in which an extended Kalman filter estimates, over successive iterations, a navigation state of the carrier, one iteration of the filter comprising steps of: propagating a previous navigation state of the carrier into a propagated state according to a kinematic model and/or measurements acquired by at least one inertial sensor, updating the propagated state according to measurements acquired by at least one navigation sensor, in which, for at least one navigation variable of the carrier contained in the propagated state, the updating comprises sub-steps of: calculating a linear correction term from an innovation representative of a difference between the measurements acquired by the navigation sensor and the propagated state, calculating an exponential of the linear correction in terms of a Lie group, calculating a first correction term expressed in a reference frame that is fixed relative to the carrier, the first correction term depending on said exponential, calculating a second correction term expressed in an inertial reference frame in which the carrier is mobile, by changing the reference frame applied to the first correction term, and adding the second correction term to the value of the variable contained in the propagated state, the state containing the result of this addition being used as the output state of the iteration. |
