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Q Method and Wahba's Problem

6 bytes added, 12:08, 19 February 2018

→‎Q-Method

Where K is a 4x4 Matrix given by

[[File:Equation33.png|frame|center]]

Wherein,<br \>

<math>B = \sum w_k(v_{kb}v_{ki}^T)</math><br \>

<math>S = B+B^T</math><br \>

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