and therefore the equation cannot, in general, be satisfied for each k = 1,2..N. Thus

we want to find a solution for R_{bi} that in some sense minimizes the overall error for

[[File:Equation24.png|frame|center]]

In this expression, J is the loss function to be minimized, k is the counter for the

Now we want to maximise g. So we will chose the eigenvector corresponding to the maximum eigenvalue.

Hence the estimated attitude can be known by solving the eigenvalue problem for the matrix K. <br \>

If you are done reading this page, you can go back to [[Attitude Determination and Control Subsystem]]

== References ==