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TRIAD method is useful when we have only two vector measurements. If we need better accuracy and have more than two vector measurements, we need to use a more general algorithm. Before developing an algorithm, we need to make our problem statement more precise.
Say we have N unit vectors <math>v_k</math>, k = 1,2...N. We have a sensor measurement in the body frame for each vector, <math>v_{kb}</math>, and a mathematical model of the components in the inertial frame, <math>v_{ki}</math>. Our aim is to find a rotation matrix <math>R_{bi}</math>, such that<br \>
[[File:Equation25.png|frame|center]]
for each of the N vectors. It is clear that this set of equations will be overdetermined for N > 2,