LetThe vertical space is spanned by the fundamental vector corresponding to . DefineIt sends to , is -equivariant, and therefore is a principal connection. Its kernel consists exactly of those for whichThese are precisely the velocities satisfying the stated horizontality condition. Every tangent vector has the unique decompositioninto vertical and horizontal parts, proving uniqueness. This is the Canonical principal connection on the Stiefel bundle over a Grassmannian.
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