We consider a left-invariant dynamics on an arbitrary Lie group. We show that it is possible, when the output map is compatible with right multiplications, to build non-linear observers such that the error equation is autonomous. The theory is illustrated by an inertial navigation example. Index Terms Lie group, symmetries, invariance, nonlinear asymptotic observers, inertial navigation.

In this paper, a spaceborne SAR interferometry system operates on the strapdown inertial navigation mechanism, which is based on maximum likelihood phase estimation method. It has been shown using simulated data that phase estimation of cross-track multi-baseline synthetic aperture radar (SAR) interferometric data is most efficiently achieved through a maximum likelihood phase estimation method...

In recent years, considerable attention has been paid to planetary hoppers for their potential to overcome the limitations on landing precision and mobility facing current planetary surface exploration technologies. This paper describes the development of a unified vision and inertial navigation system for propulsive planetary hoppers and provides demonstration of this technology. A sensor test...

This paper presents three non-linear asymptotic observers corresponding to three examples of engineering interest: a chemical reactor, a non-holonomic car, and an inertial navigation system. For each example, the design is based on physical symmetries. This motivates the theoretical development of invariant observers, i.e, symmetrypreserving observers. We consider an observer to consist in a co...

Abstract: Pedestrian Dead Reckoning (PDR) by combining the Inertial Measurement Unit (IMU) and magnetometer is an independent navigation approach based on multiple sensors. Since the inertial component error is significantly determined by the parameters of navigation equations, the navigation precision may deteriorate with time, which is inappropriate for long-time navigation. Although the BeiD...