q-method is a robust attitude estimation method.
it estimates quaternion to minimize Wahba's loss function.
Wahba's loss function
minimize J(R) = Σ[||Rvᵢ - wᵢ||²], for i = 1, 2, ..., n
python script/qmethod.py
- 人工衛星の力学と制御ハンドブック，姿勢制御研究委員会（編）
- Wahba's problem
- 20090924 姿勢推定と回転行列 Wahba's problem