A Globally Exponentially Stable Hybrid Attitude and Gyro-bias Observer

TL;DR

This paper introduces a hybrid observer for attitude and gyro-bias estimation on SO(3) that guarantees global exponential stability through hysteresis-based switching, demonstrated via simulations.

Contribution

It proposes a novel hybrid observer on SO(3) with hysteresis switching, ensuring global exponential stability for attitude and gyro-bias estimation.

Findings

Guarantees global exponential stability

Effective in simulations with biased angular velocity

Uses hysteresis-based switching for robustness

Abstract

This paper presents a hybrid attitude and gyro-bias observer designed directly on the Special Orthogonal group SO(3). The proposed hybrid observer, relying on a hysteresis-based switching between two configurations, guarantees global exponential stability using biased angular velocity and inertial vector measurements. Simulation results are given to illustrate the effectiveness of the proposed observer.