FR3137764B1 - Method for resetting an attitude provided by a dead reckoning navigation system by means of a relative positioning system - Google Patents

Method for resetting an attitude provided by a dead reckoning navigation system by means of a relative positioning system Download PDF

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Publication number
FR3137764B1
FR3137764B1 FR2207063A FR2207063A FR3137764B1 FR 3137764 B1 FR3137764 B1 FR 3137764B1 FR 2207063 A FR2207063 A FR 2207063A FR 2207063 A FR2207063 A FR 2207063A FR 3137764 B1 FR3137764 B1 FR 3137764B1
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FR
France
Prior art keywords
dead reckoning
navigation system
reckoning navigation
relative positioning
resetting
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Active
Application number
FR2207063A
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French (fr)
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FR3137764A1 (en
Inventor
David Vissiere
Mathieu Hillion
David Lebel
Maxime Lucas
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Sysnav SAS
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Sysnav SAS
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Publication date
Application filed by Sysnav SAS filed Critical Sysnav SAS
Priority to FR2207063A priority Critical patent/FR3137764B1/en
Priority to PCT/FR2023/051071 priority patent/WO2024009048A1/en
Publication of FR3137764A1 publication Critical patent/FR3137764A1/en
Application granted granted Critical
Publication of FR3137764B1 publication Critical patent/FR3137764B1/en
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)

Abstract

Ce procédé de recalage d’attitude (107) comprend l’estimation (116), par un système de navigation à l’estime (22), de plusieurs positions estimées du système de navigation à l’estime (22) dans un repère fixe arbitraire à des instants de détermination, l’obtention (114) de positions, évaluées par un système de positionnement relatif (24), du système de navigation à l’estime (22) dans un repère fixe prédéterminé auxdits instants de détermination, et la déduction (124) d’au moins un paramètre de recalage d’attitude par minimisation d’une fonction de coût comparant les positions évaluées aux positions estimées corrigées au moyen du ou de chaque paramètre de recalage. Figure pour l’abrégé : Fig. 5This attitude adjustment method (107) comprises the estimation (116), by a dead reckoning navigation system (22), of several estimated positions of the dead reckoning navigation system (22) in a fixed reference frame arbitrary at determination instants, obtaining (114) positions, evaluated by a relative positioning system (24), of the dead reckoning navigation system (22) in a predetermined fixed reference at said determination instants, and deduction (124) of at least one attitude adjustment parameter by minimization of a cost function comparing the evaluated positions to the estimated positions corrected by means of the or each adjustment parameter. Figure for abstract: Fig. 5

FR2207063A 2022-07-08 2022-07-08 Method for resetting an attitude provided by a dead reckoning navigation system by means of a relative positioning system Active FR3137764B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR2207063A FR3137764B1 (en) 2022-07-08 2022-07-08 Method for resetting an attitude provided by a dead reckoning navigation system by means of a relative positioning system
PCT/FR2023/051071 WO2024009048A1 (en) 2022-07-08 2023-07-10 Method for correcting an attitude provided by a dead reckoning navigation system by means of a relative positioning system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2207063 2022-07-08
FR2207063A FR3137764B1 (en) 2022-07-08 2022-07-08 Method for resetting an attitude provided by a dead reckoning navigation system by means of a relative positioning system

Publications (2)

Publication Number Publication Date
FR3137764A1 FR3137764A1 (en) 2024-01-12
FR3137764B1 true FR3137764B1 (en) 2024-07-12

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FR2207063A Active FR3137764B1 (en) 2022-07-08 2022-07-08 Method for resetting an attitude provided by a dead reckoning navigation system by means of a relative positioning system

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FR (1) FR3137764B1 (en)
WO (1) WO2024009048A1 (en)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2939514B1 (en) 2008-12-09 2011-02-04 Sysnav DEVICE AND METHOD FOR DETERMINING THE SPEED OF A WHEELED EARTH VEHICLE FROM MEASUREMENTS OF A MAGNETIC FIELD.
US20120173195A1 (en) * 2010-12-03 2012-07-05 Qualcomm Incorporated Inertial sensor aided heading and positioning for gnss vehicle navigation
FR2977313B1 (en) 2011-06-28 2013-08-09 Centre Nat Etd Spatiales SPACE ENGINE WITH SPEED VECTOR ESTIMATING DEVICE AND CORRESPONDING ESTIMATION METHOD
US10088318B2 (en) * 2015-08-27 2018-10-02 Qualcomm Incorporated Cradle rotation insensitive inertial navigation
FR3042266B1 (en) 2015-10-08 2019-04-19 Sysnav METHOD FOR ESTIMATING THE MOVEMENT OF A PIETON
US10197400B2 (en) * 2016-02-25 2019-02-05 Sharp Laboratories Of America, Inc. Calibration methods and systems for an autonomous navigation vehicle
FR3069634B1 (en) 2017-07-28 2021-06-11 Sysnav METHOD AND DEVICE FOR CHARACTERIZING A DETERMINED HEADING FROM MEASUREMENT OF THE MAGNETIC FIELD

Also Published As

Publication number Publication date
WO2024009048A1 (en) 2024-01-11
FR3137764A1 (en) 2024-01-12

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