NAVIGATION ASSISTANCE METHOD FOR A MOBILE CARRIER

The present invention relates to a navigation assistance method for a mobile carrier () comprising an inertial navigation unit () comprising at least one inertial sensor (), in which, over a determined observation window, the following steps are implemented by an estimation unit () of the inertial navigation unit (): (E) parametrisation of a non-linear system configured to estimate a navigation state of the mobile carrier () over a given time interval at an iteration n as a function of a kinematic model and/or measurements acquired by at least one inertial sensor (); (E) linearisation of the system so that the system expresses a navigation state at iteration n as a function of the state at iteration n−1 and a correction to this navigation state, said system being initialised by a first a priori state; (E) estimating, by a Kalman filter and stochastic cloning, a first correction of a navigation state at iteration n; (E) estimating a second correction of the navigation state at iteration n by an information filter operating in reverse and stochastic cloning; (E) determining a third correction by merging the first and second corrections; and (E) correcting the navigation state at iteration n as a function of the third correction, the corrected state being used at iteration n+1.