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Q Method and Wahba's Problem

1 byte added, 03:13, 10 February 2018

→‎Q-Method

[[File:Equation31.png|frame|center]]

One can verify that the gain function in terms of the quaternions is:

~~[[File:Equation32.png|frame|center]]~~<math>g(\bar{q}) = \bar{q}^TKq</math>

Where K is a 4x4 Matrix given by

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

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