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
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;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1657161
