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A continuous solution is proposed to the problem of uniform globalexponential estimation of the angular velocity for rigid bodies by means ofdirect attitude measurements. The proposed observer is designed on$\mathbb{R}^3\times\mathbb{R}^3\times\mathbb{R}^3$, and not on the inherentgeometry $\mathtt{SO}(3)\times\mathbb{R}^3$, which allows for a simplestructure of the observer, being a copy of the system plus some correctionterms, and a straightforward classical Lyapunov stability proof. Theperformances of the observer are illustrated by means of a simple simulationscenario.

Continuous globally exponential rigid-body angular velocity estimation from attitude measurements