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

Authors: Silvere Bonnabel, Philippe Martin, Pierre Rouchon, 2006 American Control Conference, Minneapolis, USA, DOI: 10.1109/ACC.2006.1657161
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
Download PDF
BibTeX:
@Proceedings{,
author = {Silvere Bonnabel, Philippe Martin, Pierre Rouchon},
editor = {},
title = {A non-linear symmetry-preserving observer for velocity-aided inertial navigation},
booktitle = {2006 American Control Conference},
volume = {},
publisher = {},
address = {Minneapolis, USA},
pages = {ThB03.6},
year = {2006},
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},
keywords = {}}