| 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 vectors ~ an update step executing, for each of the said state vectors, the phase of readjusting an extended Kalman filtering ~ a propagation step executing, for each of the said state vectors, the phase of propagation of an extended Kalman filtering ~ a step of determining the likelihood q i t of the said updated state vector ~ a step of calculating inertial corrections.
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