Method, device and computer program for estimating a speed of a wheeled vehicle

A method for estimating a travel speed of a vehicle having at least one wheel for rolling on a ground, comprising the following steps:

• measuring a signal being inertial or vibratory by at least one inertial or vibratory sensor of the vehicle,
• calculating by at least one calculator a plurality of spectra of the signal over a plurality of successive time windows defined with respect to instants being successive, the plurality of spectra forming at least one spectrogram as a function of the instants,
• filtering the at least one spectrogram by at least one noise attenuation and/or deterministic feature extraction filter, to obtain at least one filtered spectrogram of the signal on the instants,
• estimating by the at least one calculator a frequency trajectory representative of the travel speed of the at least one wheel of the vehicle in the at least one filtered spectrogram on the instants, by:
• estimating by the at least one calculator a probability of observation of the frequency trajectory from a calculated amplitude of the at least one filtered spectrogram for each instant,
• estimating by the at least one calculator an a posteriori law of observation of the frequency trajectory as being proportional to a product of a prescribed probability of transition of the frequency trajectory and of the probability of observation of the frequency trajectory,
• estimating by the at least one calculator the frequency trajectory for the instants from the a posteriori law of observation of the frequency trajectory,
• estimating by the at least one calculator the travel speed of the at least one wheel of the vehicle for the instants from the frequency trajectory, that has been estimated,
• controlling real-time navigation of the vehicle by an inertial navigation device of the vehicle using the estimated travel speed.