Vehicle navigation assistance method and device using an invariant Kalman filter and a navigation status of a second vehicle
US11941079B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 23, 2019 |
| Grant date | Mar 26, 2024 |
| Priority date | — |
| Expiry date | Feb 11, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG08G5/55
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A method for assisting with the navigation of a fleet of vehicles including a main vehicle and a secondary vehicle that is mobile in relation to the main vehicle, the method including receiving relative movement data, acquired by one or more sensors, between the main vehicle and the secondary vehicle, estimating a navigation status of the fleet of vehicles by an invariant Kalman filter using the received data as observations, the navigation status including first variables representing a first rigid transformation linking a location mark associated with the main vehicle to a reference point, and second variables representing a second rigid transformation linking a location mark associated with the main vehicle to a location mark associated with the secondary vehicle, the invariant Kalman filter using, as an internal composition law, a law including a term-by term composition of the first rigid transformation and the second rigid transformation.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.