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

  title={Non-linear observer on Lie Groups for left-invariant dynamics with right-left equivariant output ⋆},
  author={Silvere Bonnabel and Philippe Martin and Pierre Rouchon},
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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