公开(公告)号：US20200088521A1

公开(公告)日：2020-03-19

申请号：US16567257

申请日：2019-09-11

Applicant: iXblue

Inventor： Sophie GLEVAREC ,  Jean-Philippe MICHEL ,  Fabien NAPOLITANO ,  Guillaume PICARD ,  Martin PUCHOL

IPC: G01C21/20 ,  G01S19/47

Abstract: Disclosed is a positioning system including: several inertial measurement units; at least one common sensor, providing a measurement of a positioning parameter of a system; for each inertial measurement unit, a navigation filter configured to: a) determine an estimate of the positioning parameter, on the basis of an inertial signal provided by the inertial measurement unit; and to b) correct the estimate, as a function of the measurement and of a correction gain that is determined on the basis of an augmented variance higher than the variance of a measurement noise of a common sensor; and —at least one fusion module determining a mean of the estimates, the mean being not reinjected at the input of the navigation filters. Also disclosed is an associated positioning method.

公开(公告)号：US20230182790A1

公开(公告)日：2023-06-15

申请号：US17925949

申请日：2021-05-18

Applicant: IXBLUE

Inventor： Jean-Philippe MICHEL ,  Pierre D'HARCOURT

IPC: B61L25/02 ,  B61L15/00 ,  G01P21/02 ,  G01P7/00

CPC classification number: B61L25/021 ,  B61L15/0072 ,  B61L15/0081 ,  B61L25/023 ,  B61L25/026 ,  G01P21/02 ,  G01P7/00 ,  B61L2205/04

Abstract: In a method for calculating, by an estimator, an instantaneous velocity vector {right arrow over (Vu)} of a rail vehicle, the estimator receives measurements from an inertial unit at a fixed point in the vehicle body and determines a mathematical model M of the dynamics of the vehicle moving on a track, the model being dependent on the bias of the inertial unit and installation parameters, a virtual sensor is determined based on the model M, the virtual sensor enabling calculation, from model parameters, two theoretical transverse velocities δvyc, and δvzc along axes yc and zc, respectively. An iterative estimator calculates {right arrow over (Vu)}, and includes the virtual sensor, the estimator being configured so the two theoretical transverse velocities are zero regardless of the rail configurations, the estimator enabling correction of the biases of the inertial unit and estimate installation parameters. Auxiliary velocity or distance travelled sensors are not used to calculate {right arrow over (Vu)}.