Globally asymptotically stable hybrid observers design on SE (3)

This paper deals with the design of globally asymptotically stable invariant observers on the Special Euclidian group SE(3). First, we propose a generic hybrid estimation scheme (depending on a generic potential function) evolving on SE(3) χ R6 for pose (orientation and position) and velocity-bias estimation. Thereafter, the proposed observer is formulated explicitly in terms of inertial vectors and landmark measurements. Interestingly, the proposed globally asymptotically stable estimator, leads to decoupled translational and rotational error dynamics (in the velocity bias-free case), which is an important feature in practical applications with noisy measurements and disturbances.