Aas 12-609 Equivalence of Two Solutions of Wahba’s Problem
نویسنده
چکیده
Many attitude estimation methods are based on an optimization problem posed in 1965 by Grace Wahba. All these methods will yield the same optimal estimate, except for inevitable computer roundoff errors. This note shows that Shuster’s Quaternion Estimator (QUEST) and Mortari’s Estimator of the Optimal Quaternion (ESOQ) are essentially identical even in the presence of computer 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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