Second Estimator of the Optimal Quaternion Academic Article uri icon


  • The proposed ESOQ2 algorithm for a fast optimal estimation of the spacecraft attitude is presented. ESOQ2 computes the optimal quaternion through the evaluation of the optimal principal axis. The introduced singularity is fully avoided using only one sequential rotation. Numerical tests show ESOQ2 as the fastest among the non-singular and optimal attitude estimation algorithms. The robustness of the method is also demonstrated by numerical accuracy tests. This makes it the most suitable attitude estimation algorithm when fast spacecraft attitude estimation is required.

author list (cited authors)

  • Mortari, D.

citation count

  • 70

publication date

  • September 2000