navigation filter for a navigation system with field correlation

navigation filter (11) for terrain correlation navigation system providing an estimate of the kinematic state of a carrier from a plurality of data comprising measurements returned by at least one field sensor (102), the model associated with the field sensor (102), data from an on-board map (12), an error model of the mounted board (12), the measurements returned by an inertial unit (101) and a model of the plant inertial (101), the navigation filter (11) being characterized in that it comprises a first filter of said filter convergence (21), for example Kalman filter type, and a second filter said tracking filter (22) , for example of the particulate filter.