Function navtk::navutils::ortho_dcm

• Defined in File math.hpp

Function Documentation

Matrix3 navtk::navutils::ortho_dcm(const Matrix3 &dcm)

Performs orthonormalization of a Direction Cosine Matrix.

Uses an iterative gradient projection method from Bar-Itzhack, as referenced by Mao.

Reference: Optimal Orthonormalization of the Strapdown Matrix by Using Singular Value Decomposition, Jianqin Mao, sec 2.

Parameters

dcm – Original DCM (3x3)

Returns

Orthonormalized matrix (3x3)