Global hybrid attitude estimation on the Special Orthogonal group SO(3)

This paper presents a hybrid attitude and gyro-bias observer, on the Special Orthogonal group SO(3), leading to global exponential stability results. The proposed observer relies on a hysteresis-based switching between different configurations. Each observer configuration is derived from a non-differentiable potential function on SO(3). The proposed hybrid observer can be, explicitly, expressed in terms of inertial vector measurements. Simulation results are given to illustrate the effectiveness of the proposed attitude observer.