TY  - Type of reference 
TI  - A Study of non linear state estimation based on invariant observers 
AU  - Jean-Philippe Condomines 
AB  - This article presents a study of non linear state estimation based on invariant preserving observer : l’IUKF (Invariant Unscented Kalman Filter ). Several research works on nonlinear invariant observers have been led and provide a geometrical-based constructive method for designing filters such as the IEKF (Invariant Extended Kalman Filter ) wihle preserving the physical properties and systems symmetries. The developed IUKF estimator suggests a systematic approach to determine all the symmetry-preserving correction terms, without requiring any linearization of differential
equations or compatibility condition. The IEKF and IUKF algorithms are compared on academic case of tilt sensor system. The developed IUKF is then used with an aided Inertial Navigation System (INS). The results show promising perpectives and demonstrate that nonlinear state estimation converges on a much bigger set of trajectories than for more traditional approaches. 
DO  - 10.21494/ISTE.OP.2018.0280 
JF  - Control 
KW  - Nonlinear state estimation,  invariant unscented Kalman filter,  invariant extended Kalman filter,  navigation system, Estimation d’état non linéaire,  filtre de Kalman sigma-point invariant,  fitre de kalman étendu invariant,  invariance et symétrie,  système de navigation,  
L1  - https://openscience.fr/IMG/pdf/iste_autov1n1_1.pdf 
LA  - en 
PB  - ISTE OpenScience 
DA  - 2017/07/26 
SN  - 2631-4924 
TT  - Une étude sur l’estimation non linéaire basée sur la théorie des observateurs invariants 
UR  - https://openscience.fr/A-Study-of-non-linear-state-estimation-based-on-invariant-observers 
IS  - Issue 1 
VL  - 1 
ER  -