• DocumentCode
    2288998
  • Title

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

  • Author

    Bonnabel, Silvere ; Martin, Philippe ; Rouchon, Pierre

  • Author_Institution
    Centre Automatique et Systemes, Ecole des Mines de Paris
  • fYear
    2006
  • fDate
    14-16 June 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
    aircraft navigation; inertial navigation; motion control; navigation; nonlinear control systems; observers; position control; velocity control; nonlinear invariant observer; nonlinear symmetry-preserving observer; velocity-aided inertial navigation; Accelerometers; Aircraft navigation; Convergence; Gyroscopes; Inertial navigation; Manuals; Motion analysis; Nonlinear equations; Quaternions; Velocity measurement;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 2006
  • Conference_Location
    Minneapolis, MN
  • Print_ISBN
    1-4244-0209-3
  • Electronic_ISBN
    1-4244-0209-3
  • Type

    conf

  • DOI
    10.1109/ACC.2006.1657161
  • Filename
    1657161
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2288998