Closed loop hybridising device with monitoring of the measurement integrity

A closed loop hybridising device, comprising:

• a Kalman filter bank,
• a virtual platform,
• a calculating device to calculate pseudo-measurements estimated a priori, said calculating device receiving inertial increments and pseudo-measurements at its input, and outputting inertial measurements calculated by the virtual platform to which corrections are applied on its output,
• wherein said Kalman filter bank comprises:
• a principal Kalman filter adapted to the calculation of corrections to be applied to inertial measurements starting from all available pseudo-measurements;
• at least n secondary Kalman filters, where n is equal to the number of available pseudo-measurements, each secondary Kalman filter being adapted to the calculation of corrections to be applied to inertial measurements from a sub-set of available pseudo-measurements;
• the corrections originating from:
• either the principal Kalman filter when no pseudo-measurement is declared to be erroneous;
• or
• the secondary Kalman filter not affected by an erroneous pseudo-measurement;
• said corrections being applied simultaneously to inertial measurements and to the input to all other Kalman filters in the Kalman filter bank.