I know you can take the General linear group of some vector space $V$: $GL(V)$.
For example, suppose I have a three-sphere, elements of which I might represent as $SU(2)$ since they're diffeomorphic. I know that the three sphere admits a set of three linearly independent vector fields, the $\it{basis}$ of which can be represented by elements $SU(2)$ (or equivalently the $i,j,j$ of the quaternions).
So given such a space, how would I go about finding the General Linear group of that group (maybe that's a bad way to word it)?
Or maybe I should say how do I find the General linear group with that structure imposed upon it. How do I find out how that group differs from one on Euclidean 3-space, in a group theoretic manner. (apologies for poor terminology, my background is in physics).
I was hoping to do this for more general cases and groups like the special affine group of some particular space (for example).