Attitude Determination Using Windowed Quaternion Estimator

초록

Single point determination method provides an optimal attitude minimizing the Wahba loss function. However, for the insufficient number of measurement vectors, the conventional single point method has no unique solution. Thus we introduce the multi-points method to find an optimal quaternion minimizing the extended loss function. In this paper, this function is defined as the sum of square errors for all measurement vectors within the fixed sliding window.