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Extract from the Register of European Patents

EP About this file: EP3827221

EP3827221 - VEHICLE NAVIGATION ASSISTANCE METHOD AND DEVICE USING AN INVARIANT KALMAN FILTER AND A NAVIGATION STATUS OF A SECOND VEHICLE [Right-click to bookmark this link]
StatusNo opposition filed within time limit
Status updated on  12.01.2024
Database last updated on 14.09.2024
FormerThe patent has been granted
Status updated on  03.02.2023
FormerGrant of patent is intended
Status updated on  02.11.2022
FormerRequest for examination was made
Status updated on  03.09.2022
FormerGrant of patent is intended
Status updated on  08.03.2022
FormerRequest for examination was made
Status updated on  30.04.2021
FormerThe international publication has been made
Status updated on  01.02.2020
Formerunknown
Status updated on  10.09.2019
Most recent event   Tooltip12.07.2024Lapse of the patent in a contracting state
New state(s): IE		published on 14.08.2024  [2024/33]
Applicant(s)For all designated states
SAFRAN ELECTRONICS & DEFENSE
18-20 Quai du Point du Jour
92100 Boulogne Billancourt / FR
[2021/22]
Inventor(s)01 / ROBERT, Emmanuel
c/o Safran Electronics & Defense
18-20 Quai du Point du Jour
92100 Boulogne Billancourt / FR
02 / BARRAU, Axel
c/o Safran Electronics & Defense
18-20 Quai du Point du Jour
92100 Boulogne-Billancourt / FR
03 / BERNAL, Thomas
c/o Safran Electronics & Defense
18-20 Quai du Point du Jour
92100 Boulogne-Billancourt / FR
 [2021/48]
Former [2021/22]01 / ROBERT, Emmanuel
c/o Safran Electronics & Defense
18/20 Quai du Point du Jour
92100 Boulogne-Billancourt / FR
02 / BARRAU, Axel
c/o Safran Electronics & Defense
18/20 Quai du Point du Jour
92100 Boulogne-Billancourt / FR
03 / BERNAL, Thomas
c/o Safran Electronics & Defense
18/20 Quai du Point du Jour
92100 Boulogne-Billancourt / FR
Representative(s)Regimbeau
20, rue de Chazelles
75847 Paris Cedex 17 / FR
[2021/22]
Application number, filing date19761915.823.07.2019
[2021/22]
WO2019FR51826
Priority number, dateFR2018005680223.07.2018         Original published format: FR 1856802
[2021/22]
Filing languageFR
Procedural languageFR
PublicationType: A1 Application with search report
No.:WO2020021194
Date:30.01.2020
Language:FR
[2020/05]
Type: A1 Application with search report 
No.:EP3827221
Date:02.06.2021
Language:FR
The application published by WIPO in one of the EPO official languages on 30.01.2020 takes the place of the publication of the European patent application.
[2021/22]
Type: B1 Patent specification 
No.:EP3827221
Date:08.03.2023
Language:FR
[2023/10]
Search report(s)International search report - published on:EP30.01.2020
ClassificationIPC:G01C21/00
[2021/22]
CPC:
G01S19/393 (EP,IL,US); G01C21/00 (IL); G06F18/2113 (IL,US);
G01S19/51 (US); G01S19/52 (US); G05D1/101 (US);
G05D1/46 (US); G06F7/405 (US); G06F7/42 (US);
G08G5/0047 (IL,US) (-)
Designated contracting statesAL,   AT,   BE,   BG,   CH,   CY,   CZ,   DE,   DK,   EE,   ES,   FI,   FR,   GB,   GR,   HR,   HU,   IE,   IS,   IT,   LI,   LT,   LU,   LV,   MC,   MK,   MT,   NL,   NO,   PL,   PT,   RO,   RS,   SE,   SI,   SK,   SM,   TR [2021/22]
Extension statesBANot yet paid
MENot yet paid
Validation statesKHNot yet paid
MANot yet paid
MDNot yet paid
TNNot yet paid
TitleGerman:FAHRZEUGNAVIGATIONSASSISTENZVERFAHREN UND -VORRICHTUNG UNTER VERWENDUNG EINES INVARIANTEN KALMAN-FILTERS UND EINES NAVIGATIONSSTATUS EINES ZWEITEN FAHRZEUGS[2021/22]
English:VEHICLE NAVIGATION ASSISTANCE METHOD AND DEVICE USING AN INVARIANT KALMAN FILTER AND A NAVIGATION STATUS OF A SECOND VEHICLE[2021/22]
French:PROCÉDÉ ET DISPOSITIF D'AIDE À LA NAVIGATION D'UN PORTEUR À L'AIDE D'UN FILTRE DE KALMAN INVARIANT ET D'UN ÉTAT DE NAVIGATION D'UN DEUXIÈME PORTEUR[2021/22]
Entry into regional phase19.02.2021National basic fee paid 
19.02.2021Designation fee(s) paid 
19.02.2021Examination fee paid 
Examination procedure19.02.2021Examination requested  [2021/22]
19.02.2021Date on which the examining division has become responsible
09.03.2022Communication of intention to grant the patent
09.08.2022Despatch of communication that the application is deemed to be withdrawn, reason: fee for grant / fee for printing not paid in time
02.09.2022Disapproval of the communication of intention to grant the patent by the applicant or resumption of examination proceedings by the EPO
03.11.2022Communication of intention to grant the patent
24.01.2023Fee for grant paid
24.01.2023Fee for publishing/printing paid
24.01.2023Receipt of the translation of the claim(s)
Opposition(s)11.12.2023No opposition filed within time limit [2024/07]
Request for further processing for:The application is deemed to be withdrawn due to failure to fulfill actions required for granting the patent
02.09.2022Request for further processing filed
02.09.2022Full payment received (date of receipt of payment)
Request granted
16.09.2022Decision despatched
Fees paidRenewal fee
20.07.2021Renewal fee patent year 03
21.07.2022Renewal fee patent year 04
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Lapses during opposition  TooltipAT08.03.2023
CZ08.03.2023
DK08.03.2023
EE08.03.2023
ES08.03.2023
FI08.03.2023
HR08.03.2023
LT08.03.2023
LV08.03.2023
MC08.03.2023
NL08.03.2023
PL08.03.2023
RO08.03.2023
RS08.03.2023
SE08.03.2023
SI08.03.2023
SK08.03.2023
SM08.03.2023
NO08.06.2023
GR09.06.2023
IS08.07.2023
PT10.07.2023
GB23.07.2023
IE23.07.2023
LU23.07.2023
BE31.07.2023
CH31.07.2023
[2024/33]
Former [2024/25]AT08.03.2023
CZ08.03.2023
DK08.03.2023
EE08.03.2023
ES08.03.2023
FI08.03.2023
HR08.03.2023
LT08.03.2023
LV08.03.2023
MC08.03.2023
NL08.03.2023
PL08.03.2023
RO08.03.2023
RS08.03.2023
SE08.03.2023
SI08.03.2023
SK08.03.2023
SM08.03.2023
NO08.06.2023
GR09.06.2023
IS08.07.2023
PT10.07.2023
GB23.07.2023
LU23.07.2023
BE31.07.2023
CH31.07.2023
Former [2024/18]AT08.03.2023
CZ08.03.2023
DK08.03.2023
EE08.03.2023
ES08.03.2023
FI08.03.2023
HR08.03.2023
LT08.03.2023
LV08.03.2023
MC08.03.2023
NL08.03.2023
PL08.03.2023
RO08.03.2023
RS08.03.2023
SE08.03.2023
SI08.03.2023
SK08.03.2023
SM08.03.2023
NO08.06.2023
GR09.06.2023
IS08.07.2023
PT10.07.2023
LU23.07.2023
Former [2024/14]AT08.03.2023
CZ08.03.2023
DK08.03.2023
EE08.03.2023
ES08.03.2023
FI08.03.2023
HR08.03.2023
LT08.03.2023
LV08.03.2023
MC08.03.2023
NL08.03.2023
PL08.03.2023
RO08.03.2023
RS08.03.2023
SE08.03.2023
SI08.03.2023
SK08.03.2023
SM08.03.2023
NO08.06.2023
GR09.06.2023
IS08.07.2023
PT10.07.2023
Former [2024/10]AT08.03.2023
CZ08.03.2023
DK08.03.2023
EE08.03.2023
ES08.03.2023
FI08.03.2023
HR08.03.2023
LT08.03.2023
LV08.03.2023
NL08.03.2023
PL08.03.2023
RO08.03.2023
RS08.03.2023
SE08.03.2023
SI08.03.2023
SK08.03.2023
SM08.03.2023
NO08.06.2023
GR09.06.2023
IS08.07.2023
PT10.07.2023
Former [2023/50]AT08.03.2023
CZ08.03.2023
EE08.03.2023
ES08.03.2023
FI08.03.2023
HR08.03.2023
LT08.03.2023
LV08.03.2023
NL08.03.2023
PL08.03.2023
RO08.03.2023
RS08.03.2023
SE08.03.2023
SK08.03.2023
SM08.03.2023
NO08.06.2023
GR09.06.2023
IS08.07.2023
PT10.07.2023
Former [2023/49]AT08.03.2023
CZ08.03.2023
EE08.03.2023
ES08.03.2023
FI08.03.2023
HR08.03.2023
LT08.03.2023
LV08.03.2023
NL08.03.2023
RO08.03.2023
RS08.03.2023
SE08.03.2023
SM08.03.2023
NO08.06.2023
GR09.06.2023
PT10.07.2023
Former [2023/48]AT08.03.2023
EE08.03.2023
ES08.03.2023
FI08.03.2023
HR08.03.2023
LT08.03.2023
LV08.03.2023
NL08.03.2023
RS08.03.2023
SE08.03.2023
SM08.03.2023
NO08.06.2023
GR09.06.2023
PT10.07.2023
Former [2023/46]ES08.03.2023
FI08.03.2023
HR08.03.2023
LT08.03.2023
LV08.03.2023
NL08.03.2023
RS08.03.2023
SE08.03.2023
SM08.03.2023
NO08.06.2023
GR09.06.2023
PT10.07.2023
Former [2023/38]ES08.03.2023
FI08.03.2023
HR08.03.2023
LT08.03.2023
LV08.03.2023
NL08.03.2023
RS08.03.2023
SE08.03.2023
NO08.06.2023
GR09.06.2023
Former [2023/37]ES08.03.2023
FI08.03.2023
HR08.03.2023
LT08.03.2023
LV08.03.2023
RS08.03.2023
SE08.03.2023
NO08.06.2023
GR09.06.2023
Former [2023/36]ES08.03.2023
FI08.03.2023
HR08.03.2023
LT08.03.2023
LV08.03.2023
RS08.03.2023
SE08.03.2023
NO08.06.2023
Former [2023/35]ES08.03.2023
HR08.03.2023
LT08.03.2023
RS08.03.2023
NO08.06.2023
Former [2023/34]ES08.03.2023
LT08.03.2023
RS08.03.2023
Former [2023/33]ES08.03.2023
LT08.03.2023
Cited inInternational search[A]  - Scott M. Bezick ET AL, "Inertial Navigation for Guided Missile Systems", JOHNS HOPKINS APL TECHNICAL DIGEST, VOLUME 28, NUMBER 4 (2010), IEEE, (20100101), pages 331 - 342, XP055594754 [A] 1-14 * section: transfer alignment; page 336 *
 [AD]  - AXEL BARRAU ET AL, "The Invariant Extended Kalman Filter as a Stable Observer", IEEE TRANSACTIONS ON AUTOMATIC CONTROL., US, (20170401), vol. 62, no. 4, doi:10.1109/TAC.2016.2594085, ISSN 0018-9286, pages 1797 - 1812, XP055595129 [AD] 1-14 * section III-V *

DOI:   http://dx.doi.org/10.1109/TAC.2016.2594085
 [A]  - Axel Barrau, "Non-linear state error based extended Kalman filters with applications to navigation", PhD thesis, (20150915), URL: https://www.theses.fr/2015ENMP0080.pdf, (20190607), XP055595138 [A] 1-14 * chapitres 3-5 *
by applicant   - "Invariant Extended Kalman Filter: theory and application to a velocity-aided attitude estimation problem", BONNABLE, S.MARTIN, P.SALAÜN, E., Décision and Control, 2009 held jointly with the 2009 28th Chinese Control Conférence. CDC/CCC 2009. Proceedings of the 48th IEEE Conférence on, IEEE, (20090000), pages 1297 - 1304
    - BARRAU, A.BONNABEL, S., "The invariant extended Kalman filter as a stable observer", IEEE Transactions on Automatic Control, (20170000), vol. 62, no. 4, doi:doi:10.1109/TAC.2016.2594085, pages 1797 - 1812, XP055595129

DOI:   http://dx.doi.org/10.1109/TAC.2016.2594085
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