q-method

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

how to use

python script/qmethod.py

Reference

• 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