Abstract: Constructing an estimated orientation of the vehicle from a previous position and a previous orientation of the vehicle, then correcting this estimated orientation to obtain a first corrected orientation containing a corrected yaw angle of the vehicle, obtaining a measurement of the yaw angle of the vehicle, then replacing, in the first corrected orientation, the corrected yaw angle with the measured yaw angle, to obtain a second corrected orientation, then delivering the corrected second orientation by way of orientation determined for the vehicle and using, in the next execution of the constructing step, the corrected second orientation by way of previous orientation.

Abstract: A method for determining the position and orientation of a vehicle includes constructing, for several instants tk ranging between instants toj?1 and toj, an estimate of the instantaneous value of the physical quantity on the basis of the measurements of an inertial navigation unit; constructing an estimate of the physical quantity for the instant toj by computing the arithmetic mean of the constructed instantaneous values; computing a deviation between a measurement of the physical quantity obtained on the basis of the measurement of an odometer and an estimate of the physical quantity at the instant toj; and correcting, as a function of the deviation computed for the instant toj, estimated positions and orientations of the vehicle, in order to obtain a corrected position and a corrected orientation.

Abstract: A method for locating a mobile node in a given area, using reference nodes, the positions of which are known in the area, includes the following steps of: a) creating a visibility map comprising, for a plurality of cells, a visibility indicator (lij) corresponding to a line-of-sight radio propagation between the cell and the reference node (Nj); b) providing a set of ranging measurements on the basis of signals transmitted or received by a plurality of reference nodes (Nj); c) computing a coherence score between the position of the cell and the set of ranging measurements, the coherence score being computed on the basis of the visibility indicator (lij) between the cell and the reference node (Nj); d) determining the position of the mobile node as a function of the coherence score of each cell.

Abstract: A method includes: a) triggering, at an instant tuj, an exchange of radio signals between a mobile transceiver fixed to the vehicle and a fixed transceiver; then b) computing a rough distance only from the transmission or reception instants of the exchanged radio signals; (c) constructing an estimated position of the vehicle at an instant tm; (d) correcting the computed rough distance, then using this corrected rough distance to correct the estimated position. This correction comprises: computing an apparent velocity movement va0 of the vehicle towards the fixed transceiver; then adding a corrective term ?d0 to the computed rough distance, which corrective term is computed from the following relation: ?d0=va0·DT0, where DT0 is equal to the elapsed time between the instants tuj and tm.

Abstract: A method determines a corrected distance between a mobile transceiver fastened to a vehicle and a fixed transceiver. The method includes: identification, among a set of predetermined path segments, of the segment on which the vehicle is currently found on the basis of the last position determined for this vehicle, then selection of a correction function specifically associated with the identified segment using a table that associates, with each path segment, a respective correction function, then execution of the identified correction function to obtain a current correction coefficient for correcting a raw distance computed from transmission and reception times of the radio signals exchanged between the fixed and mobile transceivers, then correction of the last raw distance computed using the current correction coefficient to obtain the corrected distance.

Abstract: A method for identifying a static phase of a vehicle involves a first step of detecting the static phase without using measurements of a satellite geolocation unit, this first detection step involving checking that a first set of one or more conditions is satisfied, checking, repeatedly, that a second set of one or more conditions is satisfied, then so long as the second set of conditions is satisfied, executing a second step of detecting the static phase from the measurements of the satellite geolocation unit, so long as the second set of conditions is not satisfied, executing the first detection step and inhibiting the execution of the second detection step.

Abstract: A method for determining the position and orientation of a vehicle, this method including measuring, with a magnetometer, a raw-measurement vector; obtaining a reference vector encoding, in a terrestrial reference frame, the amplitude and the direction of the geomagnetic field, the components of the reference vector being obtained from a pre-recorded model of the geomagnetic field and not measured by the magnetometer; then only if the margin of error in an estimate of the orientation of the vehicle is below a predetermined threshold, updating the pre-recorded data from which scale and offset coefficients used for correcting the raw measurement from the magnetometer are obtained, this update being performed using the raw vector, the reference vector and the new estimate of the orientation of the vehicle.

Abstract: A method for determining the position and orientation of a vehicle includes constructing, for several instants tk ranging between instants toj?1 and toj, an estimate of the instantaneous value of the physical quantity on the basis of the measurements of an inertial navigation unit; constructing an estimate of the physical quantity for the instant toj by computing the arithmetic mean of the constructed instantaneous values; computing a deviation between a measurement of the physical quantity obtained on the basis of the measurement of an odometer and an estimate of the physical quantity at the instant toj; and correcting, as a function of the deviation computed for the instant toj, estimated positions and orientations of the vehicle, in order to obtain a corrected position and a corrected orientation.

Abstract: A measurement processing method, wherein: during an operational phase, a second computer executes a first algorithm for estimating a new value of a datum; during a phase when the second computer is unavailable, a first computer determines and records characteristics of a signal measured by a sensor, the number of characteristics determined during the phase being strictly less than the number of intermediate measurements that the first computer establishes during the operational phase; the unavailability phase is stopped at a time t2 and the method proceeds to an active recovery phase, during which the second computer executes a second algorithm for estimating a value of the datum at a time within the interval [t1; t2] based on the characteristics determined and recorded during the unavailability phase; then the active recovery phase is stopped and the method returns to the operational phase.

Abstract: A method for identifying a static phase of a vehicle involves a first step of detecting the static phase without using measurements of a satellite geolocation unit, this first detection step involving checking that a first set of one or more conditions is satisfied, checking, repeatedly, that a second set of one or more conditions is satisfied, then so long as the second set of conditions is satisfied, executing a second step of detecting the static phase from the measurements of the satellite geolocation unit, so long as the second set of conditions is not satisfied, executing the first detection step and inhibiting the execution of the second detection step.

Abstract: Constructing an estimated orientation of the vehicle from a previous position and a previous orientation of the vehicle, then correcting this estimated orientation to obtain a first corrected orientation containing a corrected yaw angle of the vehicle, obtaining a measurement of the yaw angle of the vehicle, then replacing, in the first corrected orientation, the corrected yaw angle with the measured yaw angle, to obtain a second corrected orientation, then delivering the corrected second orientation by way of orientation determined for the vehicle and using, in the next execution of the constructing step, the corrected second orientation by way of previous orientation.

Abstract: A method of location of a device includes a displacement law containing a corrective factor of a bias combined by an arithmetical operation with a measured variable, and particles, each particle being associated with a current value of the corrective factor. The current value of the corrective factor being constructed at each iteration on the basis of a previous current value of the corrective factor, computed during a previous iteration, to which is added a random variable drawn according to a predefined probability law. The current values of various particles are initialized, before the first iteration, to various initial values, and during each iteration, for each particle whose coordinates are updated with the aid of this displacement law, the value of the corrective factor in the displacement law is taken equal to this corrective factor's current value associated with the particle.

Abstract: A method for determining the position and orientation of a vehicle, this method including measuring, with a magnetometer, a raw-measurement vector; obtaining a reference vector encoding, in a terrestrial reference frame, the amplitude and the direction of the geomagnetic field, the components of the reference vector being obtained from a pre-recorded model of the geomagnetic field and not measured by the magnetometer; then only if the margin of error in an estimate of the orientation of the vehicle is below a predetermined threshold, updating the pre-recorded data from which scale and offset coefficients used for correcting the raw measurement from the magnetometer are obtained, this update being performed using the raw vector, the reference vector and the new estimate of the orientation of the vehicle.

Abstract: A method of location of a device includes a displacement law containing a corrective factor of a bias combined by an arithmetical operation with a measured variable, and particles, each particle being associated with a current value of the corrective factor. The current value of the corrective factor being constructed at each iteration on the basis of a previous current value of the corrective factor, computed during a previous iteration, to which is added a random variable drawn according to a predefined probability law. The current values of various particles are initialized, before the first iteration, to various initial values, and during each iteration, for each particle whose coordinates are updated with the aid of this displacement law, the value of the corrective factor in the displacement law is taken equal to this corrective factor's current value associated with the particle.

Abstract: A method of location of a device includes a displacement law containing a corrective factor of a bias combined by an arithmetical operation with a measured variable, and particles, each particle being associated with a current value of the corrective factor. The current value of the corrective factor being constructed at each iteration on the basis of a previous current value of the corrective factor, computed during a previous iteration, to which is added a random variable drawn according to a predefined probability law. The current values of various particles are initialized, before the first iteration, to various initial values, and during each iteration, for each particle whose coordinates are updated with the aid of this displacement law, the value of the corrective factor in the displacement law is taken equal to this corrective factor's current value associated with the particle.

Abstract: A step detection method comprises the following steps: a) based on at least one signal coming from at least one motion sensor rigidly attached to a portable device, detect events suitable to correspond to steps of a user carrying the portable device; b) based on at least one signal, or on at least one signal coming from another sensor also rigidly attached to the portable device, identify intervals of time during which the device is being manipulated; and c) identify as steps those, from amongst the events detected, which do not coincide with the intervals of time. A device for the implementing such a method, a mobile telephone and touchscreen tablet comprising such a device are also provided.

Abstract: A method for detecting a manipulation of a mobile device, comprises the following steps: a) determining, by means of a sensor, the orientation of the vertical direction in a reference frame tied to the mobile device at a plurality of successive instants; b) calculating, for each instant, the angle formed by the orientation of the vertical direction in the reference frame and a reference orientation, and c) detecting a manipulation when the angle exceeds a first threshold. An apparatus for detecting a manipulation of a mobile device comprises: a sensor for measuring the orientation of a vertical direction in a reference frame tied to the mobile device, and a processor connected to the sensor configured or programmed to implement such a method. A mobile phone comprising such an apparatus is also provided.

Abstract: The invention is a method for estimating and updating the bias of a sensor.

Abstract: A measurement processing method, wherein: during an operational phase, a second computer executes a first algorithm for estimating a new value of a datum; during a phase when the second computer is unavailable, a first computer determines and records characteristics of a signal measured by a sensor, the number of characteristics determined during the phase being strictly less than the number of intermediate measurements that the first computer establishes during the operational phase; the unavailability phase is stopped at a time t2 and the method proceeds to an active recovery phase, during which the second computer executes a second algorithm for estimating a value of the datum at a time within the interval [t1; t2] based on the characteristics determined and recorded during the unavailability phase; then the active recovery phase is stopped and the method returns to the operational phase.

Abstract: A method estimating orientation of a path followed by a carrier of a movement sensor includes: determining an orientation of the movement sensor with respect to the path; estimating an orientation of the movement sensor with respect to a fixed reference; estimating an orientation of the path with respect to the fixed reference by the determined orientation of the movement sensor and the estimated orientation of the movement sensor; detecting start and end of a phase of disorientation of the movement sensor with respect to the path; updating, after the detected end of the disorientation phase, determined orientation of the movement sensor with respect to the path by orientation of the path with respect to the fixed reference as estimated at the detected start of the disorientation phase and orientation of the movement sensor with respect to the fixed reference as estimated after the detected end of the disorientation phase.