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== The Algorithm ==
Recall from [[Q-Method and Wahba's Problem]] that the optimal attitude minimizes the loss function,
[[File:Equation40.JPG|frame|center]]
And maximizes the gain function,
Thus,
[[File:Equation42.png|frame|center]]
[[File:Equation43.png]] where [[File:Equation44.png]] is the maximum eigenvalue of the K matrix defined in [[Q-Method and Whab's Problem]].
With this [[File:Equation44.png]] can be written as
[[File:Equation45.png|frame|center]]