  A continuous solution is proposed to the problem of uniform global
exponential estimation of the angular velocity for rigid bodies by means of
direct attitude measurements. The proposed observer is designed on
$\mathbb{R}^3\times\mathbb{R}^3\times\mathbb{R}^3$, and not on the inherent
geometry $\mathtt{SO}(3)\times\mathbb{R}^3$, which allows for a simple
structure of the observer, being a copy of the system plus some correction
terms, and a straightforward classical Lyapunov stability proof. The
performances of the observer are illustrated by means of a simple simulation
scenario.
