{"id":"https://openalex.org/W2129980120","doi":"https://doi.org/10.1109/acc.2006.1657161","title":"A non-linear symmetry-preserving observer for velocity-aided inertial navigation","display_name":"A non-linear symmetry-preserving observer for velocity-aided inertial navigation","publication_year":2006,"publication_date":"2006-01-01","ids":{"openalex":"https://openalex.org/W2129980120","doi":"https://doi.org/10.1109/acc.2006.1657161","mag":"2129980120"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2006.1657161","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2006.1657161","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 American Control Conference","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://minesparis-psl.hal.science/hal-00533355","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037120106","display_name":"Silv\u00e8re Bonnabel","orcid":"https://orcid.org/0000-0002-6001-7766"},"institutions":[{"id":"https://openalex.org/I70768539","display_name":"\u00c9cole Nationale Sup\u00e9rieure des Mines de Paris","ror":"https://ror.org/04y8cs423","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I70768539"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"S. Bonnabel","raw_affiliation_strings":["Centre Automatique et Syst\u00e8mes, Ecole des Mines de Paris, Paris, France","Centre Automatique et Syst\u00e8mes, Ecole des Mines de Paris,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre Automatique et Syst\u00e8mes, Ecole des Mines de Paris, Paris, France","institution_ids":["https://openalex.org/I70768539"]},{"raw_affiliation_string":"Centre Automatique et Syst\u00e8mes, Ecole des Mines de Paris,","institution_ids":["https://openalex.org/I70768539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059519742","display_name":"Philippe Martin","orcid":"https://orcid.org/0000-0001-8638-6829"},"institutions":[{"id":"https://openalex.org/I70768539","display_name":"\u00c9cole Nationale Sup\u00e9rieure des Mines de Paris","ror":"https://ror.org/04y8cs423","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I70768539"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"P. Martin","raw_affiliation_strings":["Centre Automatique et Syst\u00e8mes, Ecole des Mines de Paris, Paris, France","Centre Automatique et Syst\u00e8mes, Ecole des Mines de Paris,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre Automatique et Syst\u00e8mes, Ecole des Mines de Paris, Paris, France","institution_ids":["https://openalex.org/I70768539"]},{"raw_affiliation_string":"Centre Automatique et Syst\u00e8mes, Ecole des Mines de Paris,","institution_ids":["https://openalex.org/I70768539"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065752316","display_name":"Pierre Rouchon","orcid":"https://orcid.org/0000-0001-6160-5634"},"institutions":[{"id":"https://openalex.org/I70768539","display_name":"\u00c9cole Nationale Sup\u00e9rieure des Mines de Paris","ror":"https://ror.org/04y8cs423","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I70768539"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"P. Rouchon","raw_affiliation_strings":["Centre Automatique et Syst\u00e8mes, Ecole des Mines de Paris, Paris, France","Centre Automatique et Syst\u00e8mes, Ecole des Mines de Paris,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre Automatique et Syst\u00e8mes, Ecole des Mines de Paris, Paris, France","institution_ids":["https://openalex.org/I70768539"]},{"raw_affiliation_string":"Centre Automatique et Syst\u00e8mes, Ecole des Mines de Paris,","institution_ids":["https://openalex.org/I70768539"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I70768539"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":55,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5 pp.","last_page":"5 pp."},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.7831616997718811},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.6966437697410583},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.6673030853271484},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.560822606086731},{"id":"https://openalex.org/keywords/homogeneous-space","display_name":"Homogeneous space","score":0.5583552122116089},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46358439326286316},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.4555041790008545},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3986709415912628},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3895696699619293},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.3751892149448395},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3189840316772461},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.29061976075172424},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20031270384788513},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15912523865699768},{"id":"https://openalex.org/keywords/mathematical-physics","display_name":"Mathematical physics","score":0.08507415652275085},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07823547720909119}],"concepts":[{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.7831616997718811},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.6966437697410583},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.6673030853271484},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.560822606086731},{"id":"https://openalex.org/C96469262","wikidata":"https://www.wikidata.org/wiki/Q1324364","display_name":"Homogeneous space","level":2,"score":0.5583552122116089},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46358439326286316},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.4555041790008545},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3986709415912628},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3895696699619293},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.3751892149448395},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3189840316772461},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.29061976075172424},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20031270384788513},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15912523865699768},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.08507415652275085},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07823547720909119},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/acc.2006.1657161","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2006.1657161","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 American Control Conference","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-00533355v1","is_oa":true,"landing_page_url":"https://minesparis-psl.hal.science/hal-00533355","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2006 American Control Conference, Jun 2006, France. pp.ThB03.6, &#x27E8;10.1109/ACC.2006.1657161&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-00533355v1","is_oa":true,"landing_page_url":"https://minesparis-psl.hal.science/hal-00533355","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2006 American Control Conference, Jun 2006, France. pp.ThB03.6, &#x27E8;10.1109/ACC.2006.1657161&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W290527292","https://openalex.org/W1511670827","https://openalex.org/W1764149764","https://openalex.org/W1991332019","https://openalex.org/W2020177602","https://openalex.org/W2103095193","https://openalex.org/W2112640448","https://openalex.org/W2176012660","https://openalex.org/W2176623737","https://openalex.org/W4230836784","https://openalex.org/W4251766996"],"related_works":["https://openalex.org/W4247347568","https://openalex.org/W4250716077","https://openalex.org/W2902809339","https://openalex.org/W1975341022","https://openalex.org/W2024124515","https://openalex.org/W1995820642","https://openalex.org/W4300961947","https://openalex.org/W3210901769","https://openalex.org/W4394645770","https://openalex.org/W4226313719"],"abstract_inverted_index":{"A":[0],"first":[1],"theory":[2],"of":[3,18,25],"invariant":[4,9,30],"observers":[5],"is":[6,11,36],"developed.":[7],"An":[8],"observer":[10,13,31],"an":[12,23],"which":[14],"respects":[15],"the":[16,19,26],"symmetries":[17],"system":[20],"equations.":[21],"As":[22],"illustration":[24],"theory,":[27],"a":[28],"nonlinear":[29],"for":[32],"velocity-aided":[33],"inertial":[34],"navigation":[35],"proposed":[37],"and":[38],"analyzed":[39]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
