Characteristic Polynomial of the QUEST Algorithm

摘要：

QUEST is a widely-used attitude estimation algorithm that determines three-axis attitude from vector observations. A key step in QUEST as well as many other fast attitude estimation algorithms involves solving the characteristic equation of a four-dimensional symmetric real matrix for the maximum eigenvalue of the matrix using an iterative root- finding method, for example, the Newton-Raphson method. When the attitude is only marginally observable, the form of the characteristic polynomial play a bigger role in the calculation of the maximum eigenvalue. The partially-factorized form of the characteristic polynomial leads to higher accuracy in the calculation of maximum eigenvalue than the expanded form of the characteristic polynomial.

关键词： QUEST characteristic polynomial attitude estimation

作者: Yang Cheng

作者单位: Department of Aerospace Engineering Mississippi State University Mississippi State,MS 39762,USA

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-4

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）