Navigation method with invariant extended kalman filter and vehicle equipped to implement same

Abstract

In a method for navigating a vehicle provided with a LiDAR and an inertial measurement unit, both connected to an electronic navigation unit that implements a first simultaneous localization and mapping algorithm and a second data merging algorithm, the first algorithm receiving, as an input, first location data from the LiDAR in order to calculate a first displacement from an initialisation position, the second algorithm receiving, as an input, the first displacement and second location data from the inertial measurement unit and outputting a merged second position of the vehicle, the second algorithm implements invariant extended Kalman filtering and in that the merged second position is introduced into a feedback loop which feeds into the first algorithm as an input in order to calculate a new position, which becomes the initialisation position.

Dependencies are inferred from the claim text.