Q-Method Extended Kalman Filter

@inproceedings{Zanetti2012QMethodEK,
  title={Q-Method Extended Kalman Filter},
  author={Renato Zanetti and Thomas J. Ainscough and John C Christian and Pol D. Spanos},
  year={2012}
}
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… CONTINUE READING

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