Navigation and positioning device

An improved navigation and positioning device carried on-board a vehicle moving between two geographical positions, the device comprising:

• an inertial measurement unit providing navigation measurements;
• a receiver of GNSS positioning measurements;
• a modeler modeling displacement(s) of the vehicle;
• a closed-loop main Kalman filter calculating navigation data corrections by hybridization of data provided, at the input of the main Kalman filter, at the same time, by said inertial measurement unit, said receiver and said modeler;
• and
• at the outlet of said main Kalman filter, at least two distinct Kalman sub-filters comprising:
• a first Kalman sub-filter calculating navigation data corrections by hybridization of data provided by said inertial measurement unit and by said receiver, without data provided by said modeler;
• and
• a second Kalman sub-filter calculating navigation data corrections by hybridization of data provided by said inertial measurement unit and by said modeler, without data provided by said receiver, each Kalman sub-filter applying the hybrid correction provided, at the input, at each cycle, by said main Kalman filter during the propagation phase thereof, and determining a positioning of the vehicle associated with the Kalman sub-filter considered by applying the correction calculated by the Kalman sub-filter to the hybrid positioning obtained from said main Kalman filter.