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We propose an attitude and gyro-bias estimation scheme for accelerated rigidbody systems using an inertial measurement unit (IMU) and a global positioningsystem (GPS). The proposed scheme allows to obtain attitude estimates directlyon the Special Orthogonal group $SO(3)$ while estimating the gyro bias and theunknown apparent acceleration of the vehicle. We prove semi-global exponentialstability of the estimation errors. Furthermore, a new switching technique forthe attitude state is introduced which results in a velocity-aided hybridattitude observer with proven global exponential stability.

Attitude and Gyro Bias Estimation Using GPS and IMU Measurements