Closed loop hybridising device with monitoring of the measurement integrity
US7689357B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 20, 2006 |
| Grant date | Mar 30, 2010 |
| Priority date | — |
| Expiry date | Oct 11, 2028 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S19/23
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
The invention relates to a closed loop hybridizing device comprising a Kalman filter bank, a virtual platform, a device to calculate pseudo-measurements estimated a priori. The Kalman filter bank comprises a principal Kalman filter adapted to the calculation of corrections to be applied to inertial measurements starting from all available pseudo-measurements, and n secondary Kalman filters adapted to the calculation of corrections to be applied to inertial measurements from a sub-set of available pseudo-measurements. The corrections originate from either the principal Kalman filter when no pseudo-measurement is erroneous or the secondary Kalman filter not affected by an erroneous pseudo-measurement. The corrections are applied simultaneously to inertial measurements and to the input to all other Kalman filters in the Kalman filter bank. In particular, the invention applies to a hybridizing device using information provided by an inertial unit and a satellite navigation system, for example a GPS system.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.