Solution of Wahba's Problem for Pairwise Similar Quaternions
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Closed-form Solution of Wahba's Problem for Pairwise Similar Quaternions
arXiv:2512.07597v3 Announce Type: replace-cross Abstract: Wahba's problem is fundamental to spacecraft attitude estimation, seeking the optimal rotation that minimizes the weighted misalignment between sets of vector observations. Traditional solvers, including Davenport's $q$-method, QUEST, and ESOQ, reformulate the problem as an eigenvalue task for a $4 \times 4$ symmetric matrix, a process that obscures the underlying algebraic structure of the solution. This paper presents a novel,...