Mahony, RobertHamel, TarekTrumpf, JochenLageman, Christian2015-12-07December 19781424438723http://hdl.handle.net/1885/18004This paper considers the question of designing an attitude observer exploiting the structure of the Special Orthogonal Group SO(3) for both inertial and body-fixed-frame measurements. We consider measurements from a minimal sensor suite, typically a rateKeywords: Asymptotically stable; Observer errors; Sensor suite; Single vectors; Special orthogonal group; Stability analysis; Theoretical study; Vector measurements; Gyroscopes200910.1109/CDC.2009.53998212016-02-24