Globally Asymptotically Stable Attitude Observer on SO(3)

This paper presents a deterministic hybrid observer for the attitude dynamics of a rigid body that guarantees global asymptotical stability. Any smooth attitude observer suffers from the inherent topological restriction that it is impossible to achieve global attractivity. It is illustrated that such attitude observers may yield very slow initial convergence rates, and motivated by this, we propose a hybrid attitude observer that guarantees global asymptotic stability on the special orthogonal group. This is shown to exhibit substantially improved convergence rate uniformly via numerical examples.