Optimal linear attitude estimator Academic Article uri icon


  • An optimal linear attitude estimator is presented for the case of a single-point real-time estimation of spacecraft attitude using the minimum-element attitude parameterization: Rodrigues (or Gibbs) vector g. The optimality criterion, which does not coincide with Wahba's constrained criterion, is rigorously quadratic and unconstrained. The singularity, which occurs when the principal angle is it, can easily be avoided by one rotation. The attitude accuracy tests show that the proposed method provides a precision comparable with those fully complying with the Wahba optimality definition. Finally, computational speed tests demonstrate that the proposed method belongs to the class of the fastest optimal attitude estimation algorithms. Copyright 2007 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

published proceedings


author list (cited authors)

  • Mortari, D., Markley, F. L., & Singla, P.

citation count

  • 31

complete list of authors

  • Mortari, Daniele||Markley, F Landis||Singla, Puneet

publication date

  • January 2007