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公开(公告)号：US10379224B2
公开(公告)日：2019-08-13
申请号：US15324255
申请日：2015-07-09
申请人： Safran Electronics & Defense , ASSOCIATION POUR LA RECHERCHE DEVELOPPEMENT DES METHODES ET PROCESSUS INDUSTRIELS—A.R.M.I.N.E.S.
发明人： Axel Barrau , Silvère Bonnabel
摘要： A method for estimating the state of a moving system, using a particle filter. The method implements on one reference particle an estimation of the state and includes a first set of variables and a second set of variables. A random mutation, by the particle filter, of the first set of variables is performed followed by parameterization of an extended Kalman filter using the mutated first set of variables. The Kalman filter produces a new particle using the second set of variables and data measured by at least one sensor. The second set of variables includes at least the variables: orientation, speed and position of the moving system. The Kalman filter is configured assuming that the pair of variables orientation and position has a property of invariance upon a rotation or translation and their orientation and speed has a property of invariance on application of a rotation or translation.
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公开(公告)号：US20180095159A1
公开(公告)日：2018-04-05
申请号：US15563262
申请日：2016-04-01
申请人： SAFRAN ELECTRONICS & DEFENSE , ASSOCIATION POUR LA RECHERCHE DEVELOPPEMENT DES METHODES ET PROCESSUS INDUSTRIELS - A.R.M.I.N.E.S.
发明人： Axel BARRAU , Silvere BONNABEL
CPC分类号： G01S5/0294 , G01C21/16 , G01C21/165 , G06F17/11 , G06F17/16 , H04W4/02 , H04W4/024 , H04W4/029
摘要： The invention proposes a method for tracking the navigation of a mobile carrier, in which an extended Kalman filter estimates, over successive iterations, a navigation state of the carrier, one iteration of the filter comprising steps of: propagating a previous navigation state of the carrier into a propagated state according to a kinematic model and/or measurements acquired by at least one inertial sensor, updating the propagated state according to measurements acquired by at least one navigation sensor, in which, for at least one navigation variable of the carrier contained in the propagated state, the updating comprises sub-steps of: calculating a linear correction term from an innovation representative of a difference between the measurements acquired by the navigation sensor and the propagated state, calculating an exponential of the linear correction in terms of a Lie group, calculating a first correction term expressed in a reference frame that is fixed relative to the carrier, the first correction term depending on said exponential, calculating a second correction term expressed in an inertial reference frame in which the carrier is mobile, by changing the reference frame applied to the first correction term, and adding the second correction term to the value of the variable contained in the propagated state, the state containing the result of this addition being used as the output state of the iteration.
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公开(公告)号：US11254040B2
公开(公告)日：2022-02-22
申请号：US15766823
申请日：2016-10-06
申请人： COMPAGNIE GENERALE DES ETABLISSEMENTS MICHELIN , ASSOCIATION POUR LA RECHERCHE DEVELOPPEMENT DES METHODES ET PROCESSUS INDUSTRIELS—A.R.M.I.N.E.S , ECOLE NATIONALE D'INGENIEURS DE SAINT ETIENNE , DMA LASER
发明人： Bernard Cappa , Cédric Carlavan , Christophe Colin , Maryane Jacquier , Julien Sijobert , Ludovic Thivillon
IPC分类号： B23K26/34 , B23K35/30 , B23K35/32 , C22C38/46 , C22C38/02 , C22C38/00 , B29C48/505 , B29C48/68 , C23C24/10 , B29C45/60 , B23K103/04 , B23K101/20
摘要： A subject of the invention is a process for surfacing or resurfacing a metal part by laser-assisted deposition of a filler material in order to produce an abradable coating of the part, the process being characterized in that the filler material is an iron-based powder comprising vanadium, chromium, nickel, boron, silicon and carbon, in that the laser has an operational wavelength ranging from 900 nm to 1100 nm and in that it comprises the irradiation of the part by a laser beam such that the specific energy (SE) varies from 5 J/mg to 10 J/mg and such that the linear density (LD) varies from 25 mg/mm to 55 mg/mm. Another subject of the invention is the surfaced or resurfaced metal part. Another subject of the invention is a pre-alloy in iron-based powder form, comprising vanadium, chromium, nickel, boron, silicon and carbon.
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公开(公告)号：US10345427B2
公开(公告)日：2019-07-09
申请号：US15563262
申请日：2016-04-01
申请人： SAFRAN ELECTRONICS & DEFENSE , ASSOCIATION POUR LA RECHERCHE DEVELOPPEMENT DES METHODES ET PROCESSUS INDUSTRIELS-A.R.M.I.N.E.S.
发明人： Axel Barrau , Silvere Bonnabel
摘要： A method for tracking the navigation of a mobile carrier, in which an extended Kalman filter estimates, over successive iterations, a navigation state of the carrier. Each iteration propagates a previous navigation state of the carrier into a propagated state, updates the propagated state according to measurements acquired by at least one navigation sensor. The updating includes: calculating a linear correction term from an innovation representative of a difference between the measurements acquired by the navigation sensor and the propagated state, calculating an exponential of the linear correction in terms of a Lie group, calculating a first correction term expressed in a reference frame that is fixed relative to the carrier, calculating a second correction term expressed in an inertial reference frame in which the carrier is mobile, and adding the second correction term to the value of the variable contained in the propagated state.
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公开(公告)号：US20170160399A1
公开(公告)日：2017-06-08
申请号：US15324255
申请日：2015-07-09
申请人： Safran Electronics & Defense , ASSOCIATION POUR LA RECHERCHE DEVELOPPEMENT DES METHODES ET PROCESSUS INDUSTRIELS - A.R.M.I.N.E.S.
发明人： Axel BARRAU , Silvere BONNABEL
摘要： A method is provided for estimating the state of a moving system, the method using a particle filter and comprising the following steps implemented on one reference particle among a plurality of previously calculated particles, the reference particle providing an estimation of the state and comprising a first set of variables and a second set of variables: random mutation (101), by the particle filter, of the first set of variables into a mutated first set of variables; parameterization (102) of an extended Kalman filter using the mutated first set of variables; and implementation (103) of the parameterized extended Kalman filter to produce a new particle by way of the second set of variables and data measured by at least one sensor, the method being characterized in that the extended Kalman filter is an invariant extended Kalman filter, and in that the second set of variables comprises at least the variables: orientation, speed and position of the moving system, the invariant extended Kalman filter being configured assuming that: the pair of variables orientation and position has a property of invariance on application of a rotation or translation to said pair, and that the pair of variables orientation and speed has a properly of invariance on application of a rotation or translation to said pair.
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