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

Silvère Bonnabel (1) , Philippe Martin (1) , Pierre Rouchon (1)

1 CAS - Centre Automatique et Systèmes

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

Domaines: Automatique / Robotique

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⟩