# Hybrid Nonlinear Observers for Inertial Navigation Using Landmark Measurements

arXiv: https://arxiv.org/abs/1906.04689 · HTML: https://mlsanity.com/paper/1906.04689/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 11 Jun 2019.

## Built on by (most cited first, 2 of 2)

- [Machine learning based state observer for discrete time systems evolving on Lie groups](https://mlsanity.com/paper/2401.11196/) (2024)
- [A Reliable Fault Diagnosis Method Based on Belief Rule Base Consider Robustness Analysis](https://mlsanity.com/paper/2606.10500/) (2026)

## Abstract (arXiv)

This paper considers the problem of attitude, position and linear velocity estimation for rigid body systems relying on landmark measurements. We propose two hybrid nonlinear observers on the matrix Lie group SE2(3), leading to global exponential stability. The first observer relies on fixed gains, while the second one uses variable gains depending on the solution of a continuous Riccati equation (CRE). These observers are then extended to handle biased angular velocity measurements. Both simulation and experimental results are presented to illustrate the performance of the proposed observers.