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

Bonnabel, Silvère
Martin, Philippe
Rouchon, Pierre

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Publication date

June 2006

DOI

10.1109/ACC.2006.1657161

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Abstract

International audienceA 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 analyze

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

Abstract

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

Abstract

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