Optimal linear attitude estimator

Daniele Mortari, F. Landis Markley, Puneet Singla

Research output: Contribution to journalArticlepeer-review

55 Scopus citations


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.

Original languageEnglish (US)
Pages (from-to)1619-1627
Number of pages9
JournalJournal of Guidance, Control, and Dynamics
Issue number6
StatePublished - 2007

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Aerospace Engineering
  • Space and Planetary Science
  • Electrical and Electronic Engineering
  • Applied Mathematics


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