METHOD FOR ASSISTING WITH THE NAVIGATION OF A VEHICLE

Method, navigation device and computer program product for assisting with the navigation of a vehicle equipped with a navigation device, comprising the following steps: acquiring () a priori values of kinematic variables of the navigation device, determining () respective current values of kinematic variables of the navigation device and a current uncertainty matrix representative of an uncertainty of the respective current values of the kinematic variables, based on respective previous values of the kinematic variables, determining () a correction, updating () the respective current values of the kinematic variables based on the correction and on the current uncertainty matrix.