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A non-linear symmetry-preserving observer for velocity-aided inertial navigation

Abstract : A first theory of invariant observers is developed. An invariant observer is an observer which respects the symmetries of the system equations. As an illustration of the theory, a nonlinear invariant observer for velocity-aided inertial navigation is proposed and analyzed
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Submitted on : Friday, November 5, 2010 - 5:27:34 PM
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Silvère Bonnabel, Philippe Martin, Pierre Rouchon. A non-linear symmetry-preserving observer for velocity-aided inertial navigation. 2006 American Control Conference, Jun 2006, France. pp.ThB03.6, ⟨10.1109/ACC.2006.1657161⟩. ⟨hal-00533355⟩

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