FR3132758B1 - Procédé de correction statistique de l’estimation de l’état d’un système et dispositif associé - Google Patents

Procédé de correction statistique de l’estimation de l’état d’un système et dispositif associé Download PDF

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Publication number
FR3132758B1
FR3132758B1 FR2201429A FR2201429A FR3132758B1 FR 3132758 B1 FR3132758 B1 FR 3132758B1 FR 2201429 A FR2201429 A FR 2201429A FR 2201429 A FR2201429 A FR 2201429A FR 3132758 B1 FR3132758 B1 FR 3132758B1
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FR
France
Prior art keywords
state
observation
calculation means
correction
statistical
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Application number
FR2201429A
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English (en)
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FR3132758A1 (fr
Inventor
Loïc Davain
Clément Misandeau
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Safran Electronics and Defense SAS
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Safran Electronics and Defense SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Safran Electronics and Defense SAS filed Critical Safran Electronics and Defense SAS
Priority to FR2201429A priority Critical patent/FR3132758B1/fr
Priority to US18/170,255 priority patent/US12372664B2/en
Publication of FR3132758A1 publication Critical patent/FR3132758A1/fr
Application granted granted Critical
Publication of FR3132758B1 publication Critical patent/FR3132758B1/fr
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/393—Trajectory determination or predictive tracking, e.g. Kalman filtering
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Computer Security & Cryptography (AREA)
  • Testing And Monitoring For Control Systems (AREA)
  • Complex Calculations (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)

Abstract

Procédé de correction statistique de l’estimation de l’état d’un système et dispositif associé Procédé de correction statistique, à l’aide d’un filtre statistique, de l’estimation de l’état d’un système à un instant donné, noté, ledit état comprenant une grandeur physique, la correction de l’estimation de cet état étant réalisée à partir d’une pluralité d’observations relative à cet état, chaque observation étant obtenue par une mesure différente relative à au moins une grandeur physique, le procédé étant mis en œuvre par un dispositif comprenant un moyen de calcul, le procédé comprenant : une étape (1E3) de détermination, par le moyen de calcul, pour chaque observation, de la différence entre l’observation et l’état estimé, dite innovation, à l’aide de la relation où est la matrice d’observation associée au filtre statistique considérée ; une étape (1E4) d’association, par le moyen de calcul, à chaque observation, d’un paramètre d’ordonnancement, le paramètre d’ordonnancement étant donné par la relation où est une valeur de référence prédéterminée ; une étape (1E5) de classement, par le moyen de calcul, des mesures par ordre croissant du paramètre d’ordonnancement qui leur est associé ; une étape (1E6) de correction, par le moyen de calcul, des erreurs sur les estimations à l’aide du filtre statistique, les corrections se faisant en prenant les mesures selon le classement opéré à l’étape précédente. Figure à publier avec l’abrégé : Figure 2
FR2201429A 2022-02-17 2022-02-17 Procédé de correction statistique de l’estimation de l’état d’un système et dispositif associé Active FR3132758B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR2201429A FR3132758B1 (fr) 2022-02-17 2022-02-17 Procédé de correction statistique de l’estimation de l’état d’un système et dispositif associé
US18/170,255 US12372664B2 (en) 2022-02-17 2023-02-16 Method for statistically correcting the estimation of the state of a system and device therefor

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2201429A FR3132758B1 (fr) 2022-02-17 2022-02-17 Procédé de correction statistique de l’estimation de l’état d’un système et dispositif associé
FR2201429 2022-02-17

Publications (2)

Publication Number Publication Date
FR3132758A1 FR3132758A1 (fr) 2023-08-18
FR3132758B1 true FR3132758B1 (fr) 2024-01-19

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Application Number Title Priority Date Filing Date
FR2201429A Active FR3132758B1 (fr) 2022-02-17 2022-02-17 Procédé de correction statistique de l’estimation de l’état d’un système et dispositif associé

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US (1) US12372664B2 (fr)
FR (1) FR3132758B1 (fr)

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2963437B1 (fr) * 2010-07-29 2012-08-31 Sagem Defense Securite Procede de detection et d'exclusion de multi-pannes satellites
EP3899427B1 (fr) * 2018-12-19 2025-09-03 Joby Aero, Inc. Système de navigation de véhicule
CN115114307B (zh) * 2019-07-03 2025-09-30 深圳市速腾聚创科技有限公司 一种多传感器状态估计方法、装置及终端设备
US11714200B2 (en) * 2020-03-18 2023-08-01 Honeywell International Inc. Single-difference based pre-filter of measurements for use in solution separation framework
DE102021104425A1 (de) * 2021-02-24 2022-08-25 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Ermitteln mindestens eines Systemzustands mittels eines Kalman-Filters
CN113885056B (zh) * 2021-09-07 2025-05-09 中国科学院上海天文台 星地双向时间同步设备时延的动力学标定系统及方法

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Publication number Publication date
FR3132758A1 (fr) 2023-08-18
US20230258822A1 (en) 2023-08-17
US12372664B2 (en) 2025-07-29

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