Angular and linear velocity observer design using vector and landmark measurements

This paper presents an approach for designing angular and linear velocity observers for rigid bodies using two inertial vectors and one landmark measurements directly. Compared with the classical velocity estimation algorithms, the proposed observer does not need to reconstruct the pose information from measurements nor be coupled with velocity sensors. The linear-time varying dynamics of the estimation error equation are analyzed, rigorously showing the uniform local exponential stability of the observer. Simulations are conducted to illustrate the significant performance of the proposed method.