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This paper presents a deterministic hybrid observer for the attitude dynamicsof a rigid body that guarantees global asymptotical stability. Any smoothattitude observer suffers from the inherent topological restriction that it isimpossible to achieve global attractivity, and as such, attitude observers havebeen developed with almost global asymptotic stability. We demonstrate thatsuch attitude observer may yields very slow initial convergence rates, andmotivated by this, we propose a hybrid attitude observer that guarantees globalasymptotic stability on the special orthogonal group. We illustrate that theproposed observer exhibits substantially improved convergence rate uniformlyvia numerical examples and experiments.

Hybrid Attitude Observer on SO(3) with Global Asymptotic Stability