Abstract Wahba’s problem is an important problem in both aerospace and robotics fields. It typically involves finding an optimal rotation to fit a series of vector measurements. In this paper, a rigorous analysis of the famous Wahba problem on SO(n) is presented. The entire set of solutions is obtained using both a singular value decomposition and matrix square-root method. Conditions for uniqueness of solutions are also obtained, correcting some errors in the existing literature. It is then shown that under a mild condition, Wahba’s problem can be recast as a convex optimization problem with linear matrix inequality constraints. This opens the door to a whole host of new possible solution methods for these types of Wahba problems.
On the Solution ofWahba’s Problem on S O (n)
The Journal of the Astronautical Sciences ; 60 , 1 ; 1-31
2013-03-01
31 pages
Article (Journal)
Electronic Resource
English
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