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.


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    Title :

    Equivalence of Two Solutions of Wahba’s Problem


    Contributors:

    Published in:

    Publication date :

    2013-12-01


    Size :

    10 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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