Fast and optimal solution for the generalized attitude determination problem
MetadataShow full item record
This thesis provides a fast and optimal approach to solve Wahba's general weighted problem. Applications of Wahba's general weighted problem involve attitude determination using wide field-of-view sensors or GPS sensor observations. The first approach developed applies a homotopy continuation based solver to find the global minimizer of the minimization problem. This approach first finds all the stationary points of the minimization problem by solving the polynomial equations satisfied by the stationary points and then chooses the global minimizer from them. Next, a second approach is discussed, based on solving an unconstrained optimization problem using an iterative Newton solution. The parameter space includes the attitude and lagrange multipliers. The initial guess for Newton's method is calculated by approximating the Wahba's general weighted cost and constraints to a convex form and applying semidefinite programming to have global optimum attitude. Monte Carlo-based simulation results indicate that convergence is given quickly to the optimal solution.