Vehicle navigation assistance method and device using an invariant kalman filter and a navigation status of a second vehicle

A method for assisting the navigation of a first carrier stationary relative to a second carrier itself movable in a reference frame, the method comprising the following steps implemented by the first carrier:

• receiving a navigation state in the reference frame of the second carrier provided by the second carrier,
• acquiring movement data of the first carrier by at least one proprioceptive sensor of the first carrier,
• estimating a navigation state of the first carrier by an invariant Kalman filter using the navigation state of the second carrier as observation data, wherein the navigation state of the first carrier comprises:
• first variables representative of a first rigid transformation linking a frame attached to the first carrier to the reference frame, and
• second variables representative of a second rigid transformation linking a frame attached to the second carrier to the frame attached to the first carrier, and
• wherein the invariant Kalman filter uses as binary operation an operation comprising a term-by-term composition of the first rigid transformation and of the second rigid transformation.

A device for assisting the navigation of a first carrier stationary relative to a second carrier itself movable in a reference frame, the device comprising:

• at least one proprioceptive sensor configured to acquire movement data of the first carrier,
• a communication interface for receiving a navigation state of the second carrier provided by the second carrier,
• an invariant Kalman filter configured to estimate a navigation state of the first carrier by using the navigation state of the second carrier as observation data, wherein the navigation state comprises:
• first variables representative of a first rigid transformation linking a frame attached to the first carrier to the reference frame, and
• second variables representative of a second rigid transformation linking a frame attached to the second carrier to the frame attached to the first carrier, and
• wherein the invariant Kalman filter uses as binary operation an operation comprising a term-by-term composition of the first rigid transformation and of the second rigid transformation.