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Non-linear observer on Lie Groups for left-invariant dynamics with right-equivariant output

Authors: S. Bonnabel, Ph. Martin, P. Rouchon , 2008 IFAC World Congress, July 2008, Seoul, Korea, pp. 8594-8598
We consider a left-invariant dynamics on an arbitrary Lie group. We show that it is possible, when the output map is right-left equivariant, to build non-linear observers such that the error equation is autonomous. The theory is illustrated by an inertial navigation example.
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BibTeX:
@Proceedings{,
author = {S. Bonnabel, Ph. Martin, P. Rouchon},
editor = {},
title = {Non-linear observer on Lie Groups for left-invariant dynamics with right-equivariant output},
booktitle = {2008 IFAC World Congress},
volume = {},
publisher = {},
address = {Seoul},
pages = {8594-8598},
year = {2008},
abstract = {We consider a left-invariant dynamics on an arbitrary Lie group. We show that it is possible, when the output map is right-left equivariant, to build non-linear observers such that the error equation is autonomous. The theory is illustrated by an inertial navigation example.},
keywords = {Lie group, symmetries, invariance, nonlinear asymptotic observers, inertial navigation}}