Q-method Extended Kalman Filter
نویسندگان
چکیده
The well-known Wahba Problem [1] is a non-linear, weighted least-squares problem that seeks to obtain the optimal attitude matrix from a set of at least two independent vector measurements. The most common technique used to solved the Wahba problem is the so-called q-method, developed by Davenport and documented in [2]. The q-method rearranges the Wahba performance index into a quadratic performance index of the attitude quaternion, which is constrained to have unit norm. The extremals of this performance index are the eigenvalues of the Davenport matrix, and the optimal quaternion is the unit eigenvector corresponding to the largest eigenvalue.
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