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This report proposes a discrete time observer for the continuous time rigidbody kinematics on the rotation group $\mathbb{S}\mathbb{O}(3)$. The work drawson two research schools - one by Chang based on feedback integrators forsystems evolving on manifolds,and the other by Mahony, who proposed an observerfor attitude dynamics. The discrete time observer is based on the modifieddynamics of the Mahony observer for attitude dynamics, where the modificationof the vector field enables numerical integration based on Euclidean schemes.

Design of a Discrete Time Observer for the Continuous Time Rotation Kinematics on $\mathbb{S}\mathbb{O}(3)$