Optimal quaternion estimation given measured vectors and vectors in reference system.
prof. Daniele Mortari's publication (pdf): "ESOQ-2 Single-Point Algorithm for Fast Optimal Spacecraft Attitude Determination"
- input: obs(3,n) - array of n observation unit vectors
- ref(3,n) - array of n reference unit vectors
- wt(n) - row array of n measurement weights (ommited in C++ implementation)
- output: q(4) - optimal quaternion [w,x,y,z]
- loss - optimized value of Wahba's loss function
Implementations:
- esoq2p1.m - original matlab source provided by prof. Daniele Mortari
- esoq2p1.py - python port. Depends on numpy
- ESOQ2.h & ESOQ2.cpp - C++ port, Arduino compatible, depends on LineArduino