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We consider the classical problem of estimating the attitude and gyro biasesof a rigid body from vector measurements and a triaxial rate gyro. We propose asimple "geometry-free" nonlinear observer with guaranteed uniform globalasymptotic convergence and local exponential convergence; the stabilityanalysis, which relies on a strict Lyapunov function, is rather simple. Theexcellent behavior of the observer is illustrated through a detailed numericalsimulation.

A global observer for attitude and gyro biases from vector measurements