System and method for estimating the movement or position of a moving object

Abstract

The system for estimating the movement or position of a moving object comprises: an inertial measurement unit (2) configured to generate measurements; a receiving unit (10) configured to receive electromagnetic signals from at least one satellite; a verification module (14) that checks whether parameters (AES) derived from the received electromagnetic signals meet predetermined criteria; and an intermediate value (AES) based on at least one of the measurements. [Equation 1] an integration module (12) configured to determine TIFF2025542164000040.tif277; and [Equation 2] Based on JPEG2025542164000041.jpg277, and if the parameters (AES) meet the predetermined criteria, the phase of the carrier wave of the received electromagnetic signal (

Description

[Technical Field]

[0001] The present invention relates to estimating the movement or position of a moving object.

[0002] More precisely, the present invention relates to a system and method for estimating the movement or position of a moving object.

[0003] The present invention is applicable to the estimation of the heave, pitch or roll of a ship. [Background technology]

[0004] Inertial measurement units (IMUs) can be used to estimate the position or movement of a moving object, but they are known to accumulate measurement errors and are therefore often combined with other systems to increase accuracy.

[0005] In this regard, for example, combining time-differential carrier phase (TDCP) measurements from a global positioning system (GPS) and IMU measurements using a Kalman filter has been proposed in the paper "Applying Time-Differenced Carrier Phase in Nondifferential GPS / IMU Tightly Coupled Navigation Systems to Improve the Positioning Performance" by Y. Zhao, in IEEE Transactions on Vehicular Technology, vol. 66, no. 2, pp. 992-1003, February 2017. Summary of the Invention [Means for solving the problem]

[0006] In this context, the present invention provides a system for estimating the movement or position of a moving object, the system comprising an inertial measurement unit configured to generate measurements, a receiving unit configured to receive electromagnetic signals from at least one satellite, a verification module configured to check whether parameters derived from the received electromagnetic signals satisfy predetermined criteria, an integration module configured to determine an intermediate value based on at least one of the measurements, and a calculation module configured to calculate a value representative of this movement or position based on this intermediate value and based on the phase of the carrier wave of the received electromagnetic signals if (and only if) the parameter satisfies the predetermined criteria.

[0007] Thus, the determination of the value representing this movement or position takes into account the phase of the carrier wave of the received electromagnetic signal only if the authenticity of this received electromagnetic signal is verified by ensuring that the parameters meet the criteria.

[0008] The verification module may be configured to verify whether the parameters meet predetermined criteria, for example, using at least a verification value determined based on these measurements, in this embodiment, a value derived from the inertial measurement unit is used to verify the authenticity of the received electromagnetic signal.

[0009] For example, the verification module may be configured to calculate the parameter based on a phase of a carrier wave of the received electromagnetic signal and a displacement estimate derived at least from this verification value.

[0010] In the embodiment described below, the confirmation value is an intermediate value.

[0011] According to a possible implementation, as described below, the calculation module may be configured to calculate an error and / or calculate a value representative of this movement or position based on raw values ​​derived from or equal to the intermediate value and raw values ​​corrected using the calculation error, the error being based on the phase of the carrier wave of the received electromagnetic signal if (and only if) the parameters satisfy predetermined criteria. Thus, the determination of this value representative of movement or position can work even without examining the received electromagnetic signal, i.e., without the correction just described.

[0012] In this case, the calculation module is configured to calculate a value representative of this movement as a combination of the raw value and the calculation error, for example by addition or subtraction.

[0013] In possible embodiments, the error is a velocity error and / or the raw value is a raw velocity value.

[0014] This value representing the movement or position may, for example, in fact be a velocity along a vertical axis, or, as a possible variant, the value representing the movement or position may be a velocity along a horizontal axis.

[0015] In some embodiments, the system may include a further integration module configured to integrate this value representative of the movement or position into a value representative of the position of the moving object. In the example below, this value representative of the position of the moving object is a heave value, while in other embodiments the value representative of the position can be, for example, a roll value or a pitch value. The moving object may be, for example, a boat or a ship.

[0016] The receiving unit may receive various electromagnetic signals (eg, at least three or four electromagnetic signals) from a corresponding number of different satellites (eg, at least three or four satellites each).

[0017] The verification module may perform the above-mentioned operations on each of these electromagnetic signals, in particular the operation of verifying whether each parameter derived from each of these electromagnetic signals satisfies a criterion (which may be the same criterion as above, or another criterion specifically used for the relevant signal).

[0018] The calculation module may then calculate a value representing this movement or position based on the intermediate values ​​and based on each phase of the carrier wave of the (at least three or at least four) electromagnetic signals for which each parameter meets the corresponding criterion.

[0019] Thus, the invention described above may be applied to several electromagnetic signals in a given system, but whenever one of those electromagnetic signals is processed as described above, the invention is used.

[0020] Furthermore, the present invention provides a method for estimating the movement or position of a moving object, comprising the steps of: - obtaining measurements from an inertial measurement unit; - receiving electromagnetic signals from at least one satellite using a receiving unit; - checking whether parameters derived from the received electromagnetic signal satisfy predetermined criteria; - determining an intermediate value based on at least one of the measurements; - calculating a value representative of this movement or position based on this intermediate value and, if the parameters satisfy predetermined criteria, based on the phase of the carrier wave of the received electromagnetic signal; The present invention provides a method comprising:

[0021] In the embodiments described below, the step of verifying whether the parameters meet predetermined criteria includes using a verification value determined based on these measurements.

[0022] Further, the method may include a step of calculating an error based on the phase of the carrier wave of the received electromagnetic signal if (and only if) the parameter satisfies a predetermined criterion, and then calculating a value representing this movement or position may include a step of correcting a raw value derived from or equal to the intermediate value using the calculated error.

[0023] As mentioned above, when using multiple electromagnetic signals received from multiple satellites, the error may be calculated based on each phase of the carrier wave of the (at least three or at least four) electromagnetic signals whose parameters meet the corresponding criteria.

[0024] Furthermore, the method may include the step of integrating this value representative of movement or position into a value representative of the position of the moving object.

[0025] The following description, with reference to the accompanying drawings, will clarify the contents of the present invention and the manner in which the present invention can be realized. The present invention is not limited to the embodiments illustrated in the drawings and / or described below. Thus, when features recited in a claim are followed by reference signs, such reference signs are included only to enhance the intelligibility of the claim and shall in no way limit the scope of the claim. [Brief explanation of the drawings]

[0026] [Figure 1] 1 illustrates an exemplary location estimation system. [Figure 2] 1 is a diagram illustrating the main steps of a method for estimating the movement or position of a moving object; DETAILED DESCRIPTION OF THE INVENTION

[0027] An exemplary system for estimating the movement and / or position of a moving object is shown in Figure 1. The moving object may be, for example, a boat or a ship, in which case the system is an on-board system of the boat or ship.

[0028] The system includes an inertial measurement unit 2, a receiving unit 10, a true distance calculation module 11, a first integration module 12, a verification module 14, a calculation module 16 and a second integration module 24.

[0029] Each of these units and modules may be implemented by a processor programmed by software instructions to perform the functions described below for that unit or module, or by a programmable integrated circuit (e.g., FPGA) programmed to perform these functions, or by an application specific integrated circuit (or ASIC) configured to perform these functions. In some embodiments, several units or modules may be implemented by the same processor or integrated circuit.

[0030] For example, each of the inertial measurement unit 2 and the receiving unit 10 is implemented by a dedicated processor or integrated circuit, while the first integrated module 12, the verification module 14, the calculation module 16 and the second integrated module 24 are implemented by a processor executing computer program instructions designed to cause the processor to perform the functions described below for these modules when the computer program instructions are executed by the processor.

[0031] Furthermore, it should be noted that several modules or units, including the inertial measurement unit 2, can be grouped into an inertial navigation system (INS).

[0032] The inertial measurement unit 2 includes a number of sensors 4, 6 each installed at a fixed position relative to the moving object. The sensors 4, 6 are, for example, fixed to the moving object.

[0033] The sensors 4, 6 include, for example, a gyrometer 4 and / or an accelerometer 6.

[0034] The inertial measurement unit 2 comprises a processing module 8 connected to the sensors 4, 6 to receive raw measurement signals from the sensors 4, 6. The processing module 8 is configured to generate measurement values ​​based on the raw measurement signals. These measurement values ​​include, for example, angular variation values ​​(which, after possible integration, can generate an estimate of the pose of the moving object) and / or acceleration values ​​representative of the instantaneous acceleration of the moving object, for example three acceleration values ​​each representing a component along a given axis (among three axes) of the instantaneous acceleration of the moving object.

[0035] The processing module 8 in particular calculates vertical acceleration values ​​representing the instantaneous acceleration of the moving object along the vertical axis.

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[0036] The receiving unit 10 is a global positioning system or global navigation satellite system (GNSS) configured to receive electromagnetic signals from a number of satellites and derive different values ​​from each electromagnetic signal that can partially determine the position of the receiving unit in a global reference frame (although it is not necessary in this embodiment to completely determine this position).

[0037] For each satellite S in communication with the receiving unit 10 via electromagnetic signals, the receiving unit 10 may, in particular: - the instantaneous phase ψ of the carrier wave used in the communication (specific frequency band) between the satellite S and the receiving unit 10 S and, the pseudorange ψ between the receiving unit 10 and the satellite S S and is configured to generate

[0038] The true range calculation module 11 calculates the pseudorange ψ generated by the receiving unit 10 (taking into account the previously determined receiver position and ephemeris data). S Based on this, the true distance ρ between the receiving unit 10 and the satellite S is S (i.e., distance).

[0039] The first integration module 12 calculates a vertical acceleration value based on at least one of the measurements by integrating the related measurements (over time), where the integrated measurements are filtered through a high-pass filter 28.

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[0040] The use of high-pass filter 28 allows for the selection of only the movements of interest and the removal of long-term error drift due to integration of sensor errors. Correction provided by simultaneous use of a time-differential carrier phase (TDCP) algorithm, as described below, allows the cutoff frequency of high-pass filter 28 to be reduced, for example, to 8×10 (corresponding to a cutoff period of greater than 125 seconds, e.g., 150 seconds). -3 It is less than Hz.

[0041] In practice, the first integration module 12 comprises, for example, an integration block 26 which receives the relevant measurements as input and produces an integrated measurement as output, and an integration block 27 which receives the integrated measurements as input and produces an intermediate value (here raw velocity values) as output.

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[0042] Although not shown in FIG. 1 for the sake of simplicity, the first integration module 12 actually receives the above-mentioned three acceleration values ​​(along the three axes respectively) from the inertial measurement unit 2, and therefore three corresponding raw velocity values ​​(raw velocity values

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[0043] For each satellite S possibly used in the TDCP algorithm as described below, the validation module 14 is configured to verify whether parameters derived from the electromagnetic signals received from this satellite meet predetermined criteria in order to verify whether values ​​derived from this electromagnetic signal (including values ​​obtained by the TDCP algorithm) can be effectively used (in particular, to correct the velocity or position determined based on measurements provided by the inertial measurement unit, as described below).

[0044] In the embodiment described here, the instantaneous phase ψ of the carrier wave provided by the receiving unit 10 for a given satellite S s and the true distance ρ estimated by the displacement of the moving object derived from measurements provided by the inertial measurement unit 2. s The consistency between the fluctuations in

[0045] To be precise, Carrier phase offset difference δψ at time t relative to time t0 s indicates the following equation, Δφ s =φ s (t)-φ s (t0) If the true distance difference at time t relative to time t0 is expressed as follows: Δρ s =ρ s (t)-ρ s (t0) It is as follows.

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[0046] Based on the ephemeris data (which provides the positions of the satellites S) and an estimate of the position of the moving object (which does not need to be very accurate and may be provided, for example, by the Global Positioning System), the unit vector

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[0047] The satellite clock drift does not need to be considered here, as it is very stable.

[0048] As mentioned above, the displacement is now calculated based on the measurements generated by the inertial measurement unit 2, for example by integrating these measurements.

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[0049] Here, the residual error Δε for a given satellite S is defined as a parameter that should meet a given criterion for a value derived from the electromagnetic signal received from the given satellite S to be used in the calculation module 16 described below (to correct the velocity and position values ​​determined based on the measurements provided by the inertial measurement unit 2). S I suggest using

[0050] Residual error Δε S To determine the clock bias drift δt, the verification module 12 calculates the clock bias drift δt by summing the above equation for N different measurements coming from various available satellites, as follows: dot (N may be larger than the number of available satellites, since several measurements may be taken from a given satellite if several frequency bands are used for it):

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[0051] The verification module 14 then computes the residual error Δε for a given measurement from satellite S (specifically, at least one measurement for each available satellite), as follows: S Calculate.

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[0052] Several measurements (corresponding to different frequency bands) are used for each satellite, and the receiver clock bias drift δt is calculated as described above. dot can be estimated, but only one measurement per satellite (corresponding to a particular electromagnetic signal in a given frequency band) is considered (because the TDCP block 18 described below uses the phase of the carrier waves of the electromagnetic signals received from different satellites):

[0053] Therefore, the verification module 12 determines the phase φ of the carrier of the electromagnetic signal received by the receiving unit 10 from the satellite S. S , and / or the true distance ρ obtained from this electromagnetic signal by the receiving unit 10 and the true distance calculation block 11. S , and / or at least a confirmation value determined based on measurements (produced by the inertial measurement unit 2) (wherein this confirmation value is an intermediate value (raw velocity value

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[0054] As mentioned above, the verification module 14 determines the parameter Δε S satisfies a predetermined criterion (where the parameter Δε S is less than a threshold value).

[0055] This threshold may be, for example, predetermined, i.e., determined when designing the system for a particular application. The threshold may be, for example, set to a value corresponding to a residual error Δε typically observed in the relevant application. S It may be set to twice the standard deviation of

[0056] Parameter ΔεS satisfies the criterion (i.e., is below a threshold value here), the values ​​derived from the electromagnetic signals received from the relevant satellite S (in the relevant frequency band) are considered valid and, as described below, some of these values ​​are used by the calculation module 16 to determine claimed values ​​representing the position or movement of the mobile object (wherein the raw values ​​representing the position or movement and derived from the measurements produced by the inertial measurement unit 2 are corrected).

[0057] Parameter Δε S does not meet the criteria (i.e. exceeds the threshold value), the value derived from the electromagnetic signal received from the relevant satellite S is considered not valid and therefore the value is not used in the calculation module 16.

[0058] The verification module 14 performs corresponding verification operations on the electromagnetic signals received (in a particular frequency band) from each available satellite.

[0059] As a possible variation, another solution may be used to determine whether the values ​​derived from the electromagnetic signals received from a given satellite are valid and therefore may be used in the calculation module 16. For example, the pseudorange signals received from the satellite (instead of the carrier phase) or some other signals received from the satellite may be used.

[0060] The calculation module 16 includes a switching block 17 , a TDCP block 18 , a speed error calculation block 20 and a speed error compensation block 22 .

[0061] The parameter Δε determined for a particular electromagnetic signal received (in a given frequency band) from a given satellite S S satisfies the criteria, i.e., the electromagnetic signal received from this satellite S in this frequency band can be effectively used, the switching block 17 switches the carrier phase value φ associated with this electromagnetic signal to S The switching block 17 is controlled by the verification module 14 in such a way that the TDCP block 18 forwards the

[0062] The TDCP block 18 receives from the receiving unit 10 (via the switching block 17) the continuous operating times or epochs of the system, and the parameters Δε S (corresponding to the electromagnetic signal from the satellite S satisfying the criteria) S and receiving these carrier phase values ​​φ S (over a given period, e.g., between two operating times or epochs) based on TDCP The method is configured to determine:

[0063] As just mentioned, for a particular time or epoch, the TDCP block 18 calculates the carrier phase values ​​φ of several electromagnetic signals received from different satellites, as shown by the dotted lines in FIG. S In response, the verification module 14 receives each parameter Δε S It has been confirmed that satisfies the above criteria. According to possible variations, different criteria can be used for different electromagnetic signals, and the criteria used for a given electromagnetic signal may depend, for example, on the frequency band of the given electromagnetic signal.

[0064] For this purpose, the TDCP block 18 may use, for example, a solution such as that described in "A Precise Heave Determination System Using Time-Differenced GNSS Carrier Phase Measurements" by Cho Min-Gyou, Kang In-Suk, and Park Chansik, in Journal of Positioning, Navigation, and Timing, vol. 6 Issue 4, pp. 149-157, 2017.

[0065] In this example, the vertical fluctuation Δh TDCP To generate φ, the TDCP block 18 calculates three carrier phase values ​​φ corresponding to the electromagnetic signals received from three different satellites respectively being verified by the verification module 14. S(Or, if you need a simultaneous estimate of time, four carrier phase values ​​φ corresponding to the electromagnetic signals received from four different satellites. S ) must be received. If fewer than the required number of electromagnetic signals are available and verified by the verification module 14, the velocity error calculation block 20, described below, generates a null value, and therefore there is no error correction in the velocity error compensation block 22. Thus, velocity and / or position values ​​can be generated even when electromagnetic signals are not available or verified.

[0066] If a sufficient number of electromagnetic signals are available and verified, the velocity error calculation block 20 calculates the heave variation Δh generated by the TDCP block 18, as described below. TDCP and calculates the vertical fluctuation Δh based on the vertical fluctuation h generated by the second integration module 24. TDCP (over the same period) vertical fluctuation Δh IMU Determine the following.

[0067] These up and down fluctuations Δh TDCP , Δh IMU Based on this, the speed error calculation block 20 is configured to determine an equivalent speed error δV as follows:

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[0068] This equivalent velocity error δV is the displacement error (Δh) of the vertical motion estimate obtained based on measurements from the inertial measurement unit 2, when it is considered that the vertical motion estimate obtained by the TDCP block 18 is perfect and exceeds the length of time T between two estimation times. TDCP -Δh IMU (equal to

[0069] For a given epoch (or operating time), the vertical fluctuation Δh IMUcannot be based on the vertical fluctuation h generated during this epoch (because this information is not yet available), but on the vertical fluctuation values ​​h generated for the two preceding epochs, resulting in a vertical fluctuation Δh TDCP is considered between these two preceding epochs, and therefore the velocity error δV calculated at a given epoch is actually relative to the preceding epoch. However, this does not have any adverse effect since the time between two epochs is typically short, and therefore only a small delay is required for the compensation described below.

[0070] The speed error compensation block 22 receives the intermediate value (here, raw speed value

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[0071] Next, the speed error compensation block 22 calculates the raw speed value

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[0072] As described above, the vertical fluctuation Δh is derived from a previously determined vertical fluctuation value h (e.g., determined at a previous epoch or time of operation). IMUNote that since the velocity error is calculated based on , the correction made by considering the equivalent velocity error is not instantaneous but slightly delayed (e.g., delayed by an epoch), but this is not a problem since the time interval between two epochs is typically short (e.g., has a duration of 1 second).

[0073] Here, the speed value V generated by the calculation module 16 (or more precisely, by the speed error compensation block 22, as just described) Z The velocity value V Z is applied to a second integration module 24 which gives at its output a demand value representing the position of the moving object (here the vertical movement h of the moving object) by integrating

[0074] The second integration module 24 may include a high pass filter (which in this case is multiplied by the integrated velocity value to produce at its output the desired position (here, vertical h) of the moving object).

[0075] Here, the same observations and advantages as those mentioned above for the first integrated module apply: the cutoff frequency of the high-pass filter of the second integrated module 24 can be reduced, for example to 8×10 (corresponding to a cutoff period of more than 125 seconds, for example 150 seconds). -3 It is less than Hz.

[0076] FIG. 2 shows the main steps of a method for estimating the position or movement of a moving object.

[0077] In this example, the method is performed by the system of FIG.

[0078] The method includes a step S2 of obtaining measurements from an inertial measurement unit 2.

[0079] Further, the method includes a step S4 of receiving electromagnetic signals from at least one satellite using the receiving unit 10. In some embodiments, several electromagnetic signals may be received by the receiving unit 10 from several satellites.

[0080] Furthermore, the method comprises a step S6 of determining an intermediate value (here a value representative of the vertical acceleration of the moving object) based on at least one of the measurements, for example by integrating at least one of the measurements.

[0081] Additionally, the method may include deriving a parameter Δε from the received electromagnetic signal (e.g., by considering the phase of the carrier of the received electromagnetic signal). S and using a confirmation value (possibly an intermediate value) derived from the measurements.

[0082] If several electromagnetic signals are used, several such parameters may be determined in a similar manner.

[0083] The method then determines whether the parameter satisfies a predetermined criterion (i.e., in this example, this parameter Δε S is less than the above threshold value).

[0084] If several electromagnetic signals are used, the corresponding parameters determined in step S8 can be confirmed in this manner in step S10.

[0085] Furthermore, the method includes determining a parameter Δε derived from the electromagnetic signal. S satisfies a predetermined criterion, step S12 includes calculating an error δV (here, a velocity error) derived from the phase of the carrier wave of the received electromagnetic signal. When several electromagnetic signals are used, the error δV is calculated based on each carrier wave of the received electromagnetic signal whose corresponding parameter satisfies the corresponding criterion.

[0086] In this example, a position variation (here, vertical variation) derived from a previously determined position (here, vertical) value and / or a parameter Δε derived from this electromagnetic signal S If (and only if) satisfies a predetermined criterion, this error ΔV is determined based on the position fluctuation (here, vertical fluctuation) determined based on the phase of the carrier wave of the received electromagnetic signal.

[0087] The method then calculates this intermediate value

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[0088] In this example, the median

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[0089] In the embodiment described herein, a value V representing this movement or position is Z is a value representing the movement, and the method is to calculate this value V Z into a value h representing the position (here, vertical movement) of the moving object.

[0090] The invention is not limited to the embodiments just described.

[0091] In particular, although the invention has been described in the context of heave estimation, it is also applicable to pitch or roll estimation, where, as noted above, acceleration and velocity along a particular horizontal axis are used instead of acceleration and velocity along a vertical axis.

Claims

1. 1. A system for estimating movement or position of a moving object, comprising: - Measurements [Equation 1] an inertial measurement unit (2) configured to generate a a receiving unit (10) configured to receive electromagnetic signals from at least one satellite; - a parameter derived from the received electromagnetic signal (Δε Ｓ a verification module (14) that checks whether the - an intermediate value based on at least one of said measurements [Equation 2] an integration module (12) configured to determine - the intermediate value [Equation 3] and based on the parameter (Δε Ｓ ) satisfies the predetermined criterion, the phase (φ Ｓ ) based on which a value (V Ｚ a calculation module (16) configured to calculate A system including:

2. The verification module (14) determines at least a confirmation value based on the measurements. [Equation 4] Using the above parameter (Δε Ｓ 2. The system of claim 1, wherein the system is configured to verify whether a predetermined criterion is satisfied.

3. The verification module (14) determines the phase (φ) of the carrier of the received electromagnetic signal. Ｓ ), and the confirmation value [Equation 5] quantile estimates derived at least from [Equation 6] Based on this, the parameter (Δε Ｓ 3. The system of claim 2, configured to calculate

4. The confirmation value is the intermediate value [Equation 7] The system according to claim 2 or 3, wherein:

5. The calculation module (16) calculates the error (δV) and the intermediate value [Equation 8] and the raw value corrected using the calculation error (δV), Ｚ ), and the error (δV) is calculated based on the parameter (Δε Ｓ ) satisfies the predetermined criterion, the phase (φ Ｓ The system according to any one of claims 1 to 4, wherein the system is based on

6. The calculation module (16) calculates the raw value by addition or subtraction. [Equation 9] and the value (V Ｚ 6. The system of claim 5, configured to calculate

7. 7. The system of claim 5 or 6, wherein the error is a velocity error (δV) and the raw value is a raw velocity value.

8. The value representing the movement or position is the velocity along the vertical axis (V Ｚ 8. The system according to claim 1, wherein

9. The value (V Ｚ 9. The system according to claim 1, further comprising a merging module (24) adapted to merge the moving object's position (h) into a value (h) representative of the moving object's position.

10. 1. A method for estimating movement or position of a moving object, comprising: - obtaining measurements from an inertial measurement unit (S2); - receiving (S4) an electromagnetic signal from at least one satellite using a receiving unit; - a parameter derived from the received electromagnetic signal (Δε Ｓ ) satisfies a predetermined criterion (S10); - an intermediate value based on at least one of said measurements [Equation 10] a step (S6) of determining - the intermediate value [0011] and based on the parameter (Δε Ｓ ) satisfies the predetermined criterion, the phase (φ Ｓ ) based on which a value (V Ｚ ) (S14) A method comprising:

11. The parameter (Δε Ｓ The step of verifying whether the predetermined criterion is satisfied includes verifying a verification value determined based on the measurement value. [0012] The method of claim 10, comprising using:

12. The parameter (Δε Ｓ ) satisfies the predetermined criterion, the step (S12) includes calculating an error (δV) based on the phase of the carrier wave of the received electromagnetic signal, and Ｚ The step (S14) of calculating the intermediate value (δV) using the calculation error (δV) [0013] 12. The method of claim 10 or 11, comprising correcting the raw value derived from or equal to:

13. A method according to any one of claims 10 to 12, wherein the value representing the movement or position is a velocity along a vertical axis.

14. A method according to any one of claims 10 to 13, comprising a step (S16) of aggregating said values ​​representative of said movement or position into a value representative of the position of said moving object.

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