CAYLEY ATTITUDE TECHNIQUE

摘要

Single point attitude determination is the problem of estimating the instantaneous attitude of a rigid body from a collection of vector observations taken at a single moment in time. Many methods have been proposed to solve this problem, most of which are based on Wahba's problem. Here, a new technique is presented that uses a generalized Cayley transform. Algorithms to optimally solve the attitude estimation problem for a wide family of attitude parameters are given.