1,212
edits
Changes
no edit summary
If you were a crime investigator with multiple leads from different sources, how would you proceed? Possibly, analyse all of them but ‘weight’ them based on their reliability and then decide your next step. This is what estimation algorithms do. They ‘weight’ the sensors based on their reliability. It is important to make this point that using multiple sensors (and hence more than two vector pairs for estimating rotation matrix) is not a liability as long as we are able to weight them optimally.<br \>
So what are these estimation algorithms? There is the [[Triad algorithm]]. This is, probably, the most basic of all. It takes two vector pair inputs, perfectly aligns one vector pair (note that it relies heavily on a single sensor measurement) and then aligns the plane containing these vectors. Notice that the other vector pair may not be aligned at all!<br \>
‘QuEst’ or ‘Quaternion Estimation’ is another estimation algorithm. Yet again it aligns the plane containing the vector inputs. However, the error in the alignment of the vector pairs are a consequence of how their respective sensors are weighted. If you trust a sensor more, it is logical to minimise the error in its corresponding vector pair. One can find multiple estimation algorithms in literature.<br \><br \>----
If you are done reading this page, you can go back to [[Attitude Determination and Control Subsystem]].