Abstract:This paper investigates the problem of continuous attitude estimation on SO(3) using continuous angular velocity and linear acceleration measurements as well as intermittent linear velocity and inertial vector measurements. First, we propose a nonlinear observer for the case where all the measurements are continuous and almost global asymptotic stability (AGAS) is shown using the notion of almost global input-to-state stability (ISS) on manifolds. Thereafter, a hybrid attitude observer, with AGAS guarantees, i… Show more
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