A Global, Continuous, and Exponentially Convergent Observer for Gyro Bias and Attitude of a Rigid Body
This work addresses the fundamental topological limitation in continuous attitude estimation for rigid bodies, offering a globally convergent solution.
The authors propose a 12-dimensional observer for gyro bias and attitude that achieves global, continuous, and exponential convergence, overcoming topological restrictions of the special orthogonal group. Experimental results demonstrate its efficacy against other attitude observers.
We propose a 12-dimensional, global, continuous, and exponentially convergent observer for gyro bias and attitude of a rigid body. Any attitude observer developed on the special orthogonal group suffers from the topological restriction that prohibits global attractivity in continuous flow. In this paper, the observer is designed in the set of 3 by 3 real matrices, thus making the topological obstruction on the special orthogonal group irrelevant. The efficacy of the proposed approach against other attitude observers is illustrated by an indoor experiment utilizing visual landmarks.