ATTITUDE ESTIMATION USING MULTIPLICATIVE MEASUREMENT MODEL
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A corrected measurement model is presented for observed line-of-sight vectors while dealing with the Wahba problem. The corrected model is derived from the multiplicative measurement model and the error should obey to zero mean white noises. It is proved on both principle axis and rotated angle that the correction would lead to a statically better solution. The essence of correction is to pull estimate by original measurements closer to the true value by enlarge all errors. Theoretically, such correction can be adapted to any kind of least squares. With more measurements, the accuracy gains will be larger, for the statistic effect is more evident.
author list (cited authors)
Ning, Y. u., & Mortari, D.