Function navtk::solve_wahba_svd(const Matrix3&)
Defined in File linear_algebra.hpp
Function Documentation
-
Matrix3 navtk::solve_wahba_svd(const Matrix3 &outer)
Estimate the rotation matrix that relates two fixed frames from common measurements in each of the frames.
- Parameters
outer – The sum of outer products of the measurements in the platform frame and reference frame, generated from 2 or more related pairs. In other words, for a 3 dimensional value \( m_k \): \( b = \sum_{k = 0}^n m_{platform, k}m_{ref, k}^T \)
- Returns
Estimate of
C_ref_to_platform. No validation of the result is performed; testing of the return value before use is recommended.