Global Exponential Attitude and Gyro Bias Estimation from Vector Measurements

International audienceWe consider the classical problem of estimating the attitude and gyro biases of a rigid body from at least two vector measurements and a triaxial rate gyro. We propose a solution based on a dynamic nonlinear estimator designed without respecting the geometry of SO(3), which achieves uniform global exponential convergence. The convergence is established thanks to a dynamically scaled Lyapunov function