Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Hybrid Nonlinear Observers for Inertial Navigation Using Landmark
  Measurements   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 $SE_2(3)$, 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.

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The categories of this paper are: stat
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The categories of this paper are: atom-ph
33
The categories of this paper are: plasm-ph
6
The categories of this paper are: astro-ph
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The categories of this paper are: q-fin
5
The categories of this paper are: gr-qc
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The categories of this paper are: nucl-th
0
The categories of this paper are: hep-ph
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The categories of this paper are: funct-an
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The categories of this paper are: bayes-an
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The categories of this paper are: chao-dyn
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The categories of this paper are: solv-int
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The categories of this paper are: hep-ex
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The categories of this paper are: nlin
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The categories of this paper are: hep-lat
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The categories of this paper are: acc-phys