Method and device for assisting with the navigation of a fleet of vehicles using an invariant kalman filter

Abstract

The invention relates to a method for assisting with the navigation of a fleet of vehicles comprising a main vehicle (1) and a secondary vehicle (2) that is mobile in relation to the main vehicle (1), said method involving the steps of: •receiving relative movement data (Y1, Y2), acquired by at least one sensor (2, 12), between the main vehicle (1) and the secondary vehicle (2); •estimating (100, 200) a navigation status of the fleet of vehicles by an invariant Kalman filter using the received data (Y1, Y2) as observations, the navigation status comprising •first variables representing a first rigid transformation linking a location mark associated with the main vehicle (1) to a reference point, and •second variables representing a second rigid transformation linking a location mark associated with the main vehicle (1) to a location mark associated with the secondary vehicle (2), the invariant Kalman filter using, as an internal composition law, a law comprising a term-by term composition of the first rigid transformation and the second rigid transformation.

Dependencies are inferred from the claim text.