| 摘要 |
The invention relates to a method for determining the navigation speed of a carrier using a hybridization device (1) including a Kalman filter (3) developing a hybrid navigation speed ( V ref ) from inertial measurements calculated by a virtual platform (2) estimating a speed of the carrier (formula (I)) and frequency measurements outputted by a Doppler radar (4) having a multi-lobe antenna built therein, such that a Doppler frequency (F1, F2, F3, F4) is associated with each of the lobes, wherein said method includes the following steps: estimating, from the estimated speed (formula (I)), frequencies (F1, F2, F3, F4) corresponding to each of the Doppler frequencies (formula (II)) outputted by the radar; determining a group of observations where each observation represents an estimation deviation on the Doppler frequency associated with a lobe; calculating, by the Kalman filter (3), a speed correction (?V) to be applied to the estimated speed (formula (I)) on the basis of the group of observations. |
