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Motivated by drone autonomous navigation applications we address a novelproblem of velocity-aided attitude estimation by combining two linear velocitycomponents measured in a body-fixed frame and a linear velocity componentmeasured in an inertial frame with the measurements of an Inertial MeasurementUnit (IMU). The main contributions of the present paper are the design ofRiccati nonlinear observers, which may be viewed as deterministic versions ofan Extended Kalman filter (EKF), and an analysis of observability conditionsunder which local exponential stability of the observer is achieved. Reportedsimulation results further indicate that the observers' domain of convergenceis large.

Riccati observers for velocity-aided attitude estimation of accelerated vehicles using coupled velocity measurements