Quaternion Attitude Estimation Using Vector Observations

@article{Markley2000QuaternionAE,
  title={Quaternion Attitude Estimation Using Vector Observations},
  author={F. Landis Markley and Daniele Mortari},
  journal={Journal of The Astronautical Sciences},
  year={2000},
  volume={48},
  pages={359-380}
}
This paper contains a critical comparison of estimators minimizing Wahba’s loss function. Some new results are presented for the QUaternion ESTimator (QUEST) and EStimators of the Optimal Quaternion (ESOQ and ESOQ2) to avoid the computational burden of sequential rotations in these algorithms. None of these methods is as robust in principle as Davenport’s q method or the Singular Value Decomposition (SVD) method, which are significantly slower. Robustness is only an issue for measurements with… 
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