Abstract
This article presents the analysis, design, and performance evaluation of a novel filter for partial attitude and rate gyro bias estimation. In addition to a single body-fixed vector observation of a constant reference vector in inertial coordinates, biased angular velocity measurements are available for filtering purposes, which occurs directly in the space of the vector observations. Appropriate observability conditions are derived and a filter with globally asymptotically stable (GAS) error dynamics is proposed. Simulation and experimental results are detailed, with ground truth data for comparison purposes, that illustrate the achievable performance of the envisioned solutions.
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