Abstract Many attitude estimation methods are based on an optimization problem posed in 1965 by Grace Wahba. All these methods yield the same optimal estimate, except for inevitable computer roundoff errors. This note shows shows that Shuster’s Quaternion Estimator (QUEST) and Mortari’s Estimator of the Optimal Quaternion (ESOQ) are essentially identical even in the presence of roundoff errors. It also shows some connections between two other algorithms for solving Wahba’s problem: Davenport’s q method and the Singular Value Decomposition (SVD) method.
Equivalence of Two Solutions of Wahba’s Problem
The Journal of the Astronautical Sciences ; 60 , 3 ; 303-312
01.12.2013
10 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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