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A principal bundle with structural Lie group $G$ is locally a product $U\times G$, with changes of trivialization of the form $(x,g)\mapsto (x,t(x)g)$. Define a right action locally by $(x,g)\cdot h=(x,gh)$. It is independent of trivialization because $t(x)(gh)=(t(x)g)h$. It is smooth and obeys the group-action law. Right multiplication in $G$ is free and transitive, so the global action is free and each fiber is a single orbit. Equivalently these properties and equivariant local triviality can be included in the definition of a principal bundle.

For a representation $\rho :G\to GL(V)$, form the associated vector bundleProjection sends $[p,v]$ to the base point of $p$. A local section $s(x)$ gives coordinates $[s(x),v]$ and hence a local product $U\times V$; on overlaps the principal transition functions act through $\rho$. Because these maps are linear in $v$, the fibers have well-defined vector-space structures.

For an $n$-dimensional manifold, its frame bundle has points $u:{\mathbb{R}}^n\to T_{x}M$ that are linear isomorphisms. Right action is composition $u\cdot A=u\circ A$ for $A\in GL(n,\mathbb{R})$. Coordinate frames provide local trivializations. Its associated bundle for the defining representation is the tangent bundle, by the well-defined map $[u,v]\mapsto u(v)$. A metric restricts the frames to linear isometries and reduces the group to $O(r,s)$; choosing orientation gives the corresponding special-orthogonal reduction.

In Minkowski spacetime choose a reference oriented pseudo-orthonormal frame at the origin. Every such frame is specified by its base point $a\in {\mathbb{R}}^{3,1}$ and a Lorentz transformation $L\in SO(3,1)$. The Poincaré group has multiplicationand its right Lorentz action is $(a,L)\cdot h=(a,Lh)$. Henceis the oriented orthonormal frame bundle of Minkowski spacetime. The same argument with $O(3,1)$ gives the full unoriented bundle. If time orientation is fixed, use the orthochronous components throughout; the use of $SO$ in the printed quotient is an orientation reduction.

For four-dimensional de Sitter spacetime, use the spacelike hyperboloid $x\cdot x={\ell }^2$ in ${\mathbb{R}}^{4,1}$. An element of $SO(4,1)$ maps a fixed unit spacelike vector to $x/\ell$, and its other columns give an oriented pseudo-orthonormal tangent frame. The stabilizer of that unit vector is $SO(3,1)$. This identifies the oriented frame bundle of de Sitter spacetime and its projection:The right stabilizer action changes the tangent frame without changing $x$.

For Anti-de Sitter spacetime, take $x\cdot x=-{\ell }^2$ in ${\mathbb{R}}^{3,2}$. A unit timelike normal has orthogonal complement of signature $(3,1)$, so its stabilizer is again $SO(3,1)$. Appending this normal to a tangent frame realizes the oriented orthonormal frame bundle of anti-de Sitter spacetime asConnected components or orientation/time-orientation restrictions must be chosen consistently. This quotient is the anti-de Sitter quadric, which has a periodic timelike coordinate. If “anti-de Sitter spacetime” denotes its universal cover, pull the frame bundle back to that cover, rather than identify the covered spacetime with the unmodified quotient.

A smooth principal bundle with structure Lie group $G$ can be specified by a locally trivial map $\pi :E\to B$ whose fiber coordinate changes have the form $(x,g{)}_i\mapsto (x,h_{ji}(x)g{)}_j$, with the usual transition functions of a principal bundle cocycle on triple overlaps. In each chart define $(x,g)\cdot k=(x,gk)$. On overlaps, $h_{ji}(x)(gk)=(h_{ji}(x)g)k$, so these local right actions agree. They therefore give a global smooth right group action, free and transitive on every fiber. Equivalently, this action together with equivariant local triviality is the definition of a principal bundle.

Use five-dimensional Minkowski spacetime with ambient metric $\eta =\mathrm{diag}(-1,1,1,1,1)$ and realize unit-radius de Sitter spacetime as $\eta (x,x)=1$. Its tangent space is $x^{\perp }$, of Lorentzian signature $(3,1)$. An oriented pseudo-orthonormal frame $(e_0,e_1,e_2,e_3)$ of $x^{\perp }$, together with the last column $x$, is precisely a matrixConversely the last column of such a matrix lies on the hyperboloid, and its other columns give that frame. ThusRight multiplication by $\mathrm{diag}(h,1)$ fixes $x$ and changes the tangent frame by $h$. It is free and transitive on frames over $x$, proving the principal bundle description. Smooth local choices of frames provide its local trivializations. The dimensions are $10=4+6$.

This is the oriented frame bundle of de Sitter spacetime. Allowing orientation reversal gives $O(4,1)$ and structure group $O(3,1)$; imposing a time orientation as well selects $S{O}_0(4,1)$ and $S{O}_0(3,1)$. For radius $a$, take the last column $x/a$.

One definition of a principal bundle $P\to M$ uses local trivializations ${\varphi }_i:{\pi }^{-1}(U_i)\to U_i\times G$ whose overlap maps arewith smooth $G$-valued transition functions of a principal bundle satisfying the cocycle condition. This definition displays the global right group action rather than assuming it: if ${\varphi }_i(p)=(x,g_i)$, define ${\varphi }_i(p\cdot h)=(x,g_{i}h)$. On an overlap,so the local definitions agree. The resulting action is smooth, free and transitive on each fibre, and respects the projection.

If $s:M\to P$ is a global section of a fiber bundle, set $F(x,h)=s(x)\cdot h$. The free and transitive fibre action makes $F:M\times G\to P$ bijective. In a local trivialization, write $s(x)=(x,a_i(x))$; then $F(x,h)=(x,a_i(x)h)$ and its inverse is $(x,g)\mapsto (x,a_i(x{)}^{-1}g)$. Both are smooth and respect the action and projection. Conversely a principal bundle isomorphism $M\times G\to P$ sends $x\mapsto (x,e)$ to a global section. Hence

For a pseudo-Riemannian manifold of metric signature $(p,q)$, its orthonormal frame bundle has fibre at $x$ consisting of linear isometries $u:{\mathbb{R}}^{p,q}\to T_{x}M$. Its structure group is $O(p,q)$ and its right action is $u\cdot h=u\circ h$. Two such frames differ by a unique element of $O(p,q)$, proving the required free and transitive fibre action. A global section is exactly a global pseudo-orthonormal frame. Orientation and time orientation, when specified, restrict the structure group and the allowed frames.

Realize unit-radius four-dimensional de Sitter spacetime asIts tangent space is $X^{\perp }$, with Lorentzian metric signature $(3,1)$. If $e_0,e_1,e_2,e_3$ is a pseudo-orthonormal frame at $X$, append $X$ as the final column. The resulting five-by-five matrix preserves $\eta$, and conversely every such matrix supplies a point $X$ and a frame at that point. Thus the full frame bundle is $O(4,1)$, with projection $g\mapsto g{e}_4$ and fibre group $O(3,1)$.

The printed $SO(4,1)$ statement requires the orientation restriction. Choose the tangent orientation by requiring the appended matrix to have determinant one. Thenis precisely the oriented frame bundle of de Sitter spacetime, with right structure group $SO(3,1)$ embedded as $\mathrm{diag}(h,1)$. If future time orientation is also required, use $S{O}_0(4,1)$ and $S{O}_0(3,1)$. Calling $SO(4,1)$ the full bundle without specifying orientation would exclude valid frames of the opposite orientation.

Finally write the global coordinatesDirect differentiation gives the de Sitter spacetime metric $-d{\tau }^2+{\cosh }^2\tau g_{S^3}$. The assumed global frame of a vector bundle on $S^3$ can be orthonormalized smoothly by Gram-Schmidt orthogonalization for the round positive metric. More explicitly, view $S^3$ as the unit quaternions: $Y_1(q)=qi$, $Y_2(q)=qj$, $Y_3(q)=qk$ form a smooth global orthonormal tangent basis. SetThese have inner products $g(E_0,E_0)=-1$, $g(E_i,E_j)={\delta }_{ij}$ and $g(E_0,E_i)=0$. They are smooth everywhere because $\cosh \tau$ never vanishes. Choose the spatial orientation consistently, reversing one $Y_i$ if necessary, and choose $E_0$ future-directed. This global frame on four-dimensional de Sitter spacetime yields a global section of the full frame bundle and also of either restricted bundle. Yes: the de Sitter frame bundle admits a global section and is trivial.