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A Non-Linear Symmetry-Preserving Observer For Velocity-Aided Inertial Navigation
2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12, (2006): 2910-+
摘要
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.
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