Abstract
The Generalized Wahba Problem, which can accept as input both measured directions and measured attitudes, is defined and examined in terms of both the attitude profile matrix B and the Davenport matrix K. The possibility of extending the generalization to scalar measurements is also examined. We obtain a number of new results relating these two matrices to the attitude estimate and to the attitude-error covariance matrix. We compare the generalized Wahba problem also with a less restrictive approach to attitude estimation.
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