FR3137762B1 - Dispositif de navigation et de positionnement - Google Patents

Dispositif de navigation et de positionnement Download PDF

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Publication number
FR3137762B1
FR3137762B1 FR2207004A FR2207004A FR3137762B1 FR 3137762 B1 FR3137762 B1 FR 3137762B1 FR 2207004 A FR2207004 A FR 2207004A FR 2207004 A FR2207004 A FR 2207004A FR 3137762 B1 FR3137762 B1 FR 3137762B1
Authority
FR
France
Prior art keywords
navigation
kalman
filter
positioning device
hybridization
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
FR2207004A
Other languages
English (en)
Other versions
FR3137762A1 (fr
Inventor
Nicolas Jean-Marc Frédéric Vercier
Vincent Chopard
Jacques Coatantiec
Grégoire Brisson
Emmanuel Nguyen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Thales SA
Original Assignee
Thales SA
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.)
Filing date
Publication date
Application filed by Thales SA filed Critical Thales SA
Priority to FR2207004A priority Critical patent/FR3137762B1/fr
Priority to PCT/EP2023/068891 priority patent/WO2024008942A1/fr
Priority to US18/880,549 priority patent/US20250389852A1/en
Publication of FR3137762A1 publication Critical patent/FR3137762A1/fr
Application granted granted Critical
Publication of FR3137762B1 publication Critical patent/FR3137762B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • G01S19/38—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
    • 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
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
    • 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
    • G01S19/393—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
    • G01S19/40—Correcting position, velocity or attitude
    • 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

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)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

Dispositif de navigation et de positionnement L’invention concerne un dispositif de navigation et de positionnement comprenant au moins : - une unité (12) de mesure inertielle, - un récepteur (16) de mesures GNSS, - une unité (18) de modélisation de déplacement(s) dudit véhicule, - un filtre de Kalman principal (K) calculant des corrections de données de navigation par hybridation de données, et en sortie dudit filtre de Kalman principal au moins deux sous-filtres de Kalman distincts comprenant : - un premier sous-filtre de Kalman (SF1) calculant des corrections de données de navigation par hybridation de données fournies par l’unité de mesure inertielle et par ledit récepteur de mesures de positionnement par satellite(s) GNSS, - un deuxième sous-filtre de Kalman (SF2) calculant des corrections de données de navigation par hybridation de données fournies par l’unité de mesure inertielle et par ladite unité de modélisation de déplacement(s) dudit véhicule. Figure pour l'abrégé : Figure 2
FR2207004A 2022-07-08 2022-07-08 Dispositif de navigation et de positionnement Active FR3137762B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
FR2207004A FR3137762B1 (fr) 2022-07-08 2022-07-08 Dispositif de navigation et de positionnement
PCT/EP2023/068891 WO2024008942A1 (fr) 2022-07-08 2023-07-07 Dispositif de navigation et de positionnement
US18/880,549 US20250389852A1 (en) 2022-07-08 2023-07-07 Navigation and positioning device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2207004 2022-07-08
FR2207004A FR3137762B1 (fr) 2022-07-08 2022-07-08 Dispositif de navigation et de positionnement

Publications (2)

Publication Number Publication Date
FR3137762A1 FR3137762A1 (fr) 2024-01-12
FR3137762B1 true FR3137762B1 (fr) 2024-06-28

Family

ID=83899447

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2207004A Active FR3137762B1 (fr) 2022-07-08 2022-07-08 Dispositif de navigation et de positionnement

Country Status (3)

Country Link
US (1) US20250389852A1 (fr)
FR (1) FR3137762B1 (fr)
WO (1) WO2024008942A1 (fr)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2961897B1 (fr) * 2010-06-25 2012-07-13 Thales Sa Filtre de navigation pour un systeme de navigation par correlation de terrain
US10102744B2 (en) * 2016-09-27 2018-10-16 International Business Machines Corporation Predictive traffic management using virtual lanes
FR3089305B1 (fr) 2018-12-04 2021-07-23 Thales Sa Procédé de localisation d’un aéronef au sol au moyen d’un système de capteurs hybridés
EP3901650A1 (fr) * 2020-04-20 2021-10-27 Honeywell International Inc. Surveillance de l'intégrité des mesures d'odométrie à l'intérieur d'un système de navigation
US12442936B2 (en) * 2021-06-14 2025-10-14 Honeywell International Inc. Inertial coasting position and velocity solution separation
FR3130399B1 (fr) * 2021-12-14 2024-01-26 Safran Electronics & Defense Procédé de navigation par satellite avec détection de satellite en panne par traitement statistique de l’innovation croisée
FR3137461B1 (fr) * 2022-07-04 2024-07-19 Thales Sa Dispositif et procédé de navigation et de positionnement

Also Published As

Publication number Publication date
FR3137762A1 (fr) 2024-01-12
US20250389852A1 (en) 2025-12-25
WO2024008942A1 (fr) 2024-01-11

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