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Successful navigation of a rigid-body traveling with six degrees of freedom(6 DoF) requires accurate estimation of attitude , position, and linearvelocity. The true navigation dynamics are highly nonlinear and are modeled onthe matrix Lie group of SE2(3). This paper presents novel geometric nonlinearcontinuous stochastic navigation observers on SE2(3) capturing the truenonlinearity of the problem. The proposed observers combines IMU and landmarkmeasurements. It efficiently handles the IMU measurement noise. The proposedobservers are guaranteed to be almost semi-globally uniformly ultimatelybounded in the mean square. Quaternion representation is provided. A real-worldquadrotor measurement dataset is used to validate the effectiveness of theproposed observers in its discrete form. Keywords: Inertial navigation,stochastic system, Brownian motion process, stochastic filter algorithm,stochastic differential equation, Lie group, SE(3), SO(3), pose estimator,position, attitude, feature measurement, inertial measurement unit, IMU.

GPS-denied Navigation: Attitude, Position, Linear Velocity, and Gravity Estimation with Nonlinear Stochastic Observer