We provide a general expression of the Haar measure—that is, the essentially unique translation-invariant measure—on a p-adic Lie group. We then argue that this measure can be regarded as the measure naturally induced by the invariant volume form on the group, as it happens for a standard Lie group over the reals. As an important application, we next consider the problem of determining the Haar measure on the p-adic special orthogonal groups in dimension two, three and four (for every prime number p). In particular, the Haar measure on SO(2,Qp)\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\ ext {SO}(2,\\mathbb {Q}_p)$$\\end{document} is obtained by a direct application of our general formula. As for SO(3,Qp)\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\ ext {SO}(3,\\mathbb {Q}_p)$$\\end{document} and SO(4,Qp)\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\ ext {SO}(4,\\mathbb {Q}_p)$$\\end{document}, instead, we show that Haar integrals on these two groups can conveniently be lifted to Haar integrals on certain p-adic Lie groups from which the special orthogonal groups are obtained as quotients. This construction involves a suitable quaternion algebra over the field Qp\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\mathbb {Q}_p$$\\end{document} and is reminiscent of the quaternionic realization of the real rotation groups. Our results should pave the way to the development of harmonic analysis on the p-adic special orthogonal groups, with potential applications in p-adic quantum mechanics and in the recently proposed p-adic quantum information theory.
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