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

Systems and Control;Systems and Control