naa a22 4500 510774350 CHVBK 20180411083225.0 cr unu---uuuuu 180411e20130301xx s 000 0 eng 10.1007/s40295-014-0019-8 doi (NATIONALLICENCE)springer-10.1007/s40295-014-0019-8 On the Solution ofWahba's Problem on S O ( n ) [Elektronische Daten] [Anton de Ruiter, James Forbes] Wahba's problem is an important problem in both aerospace and robotics fields. It typically involves finding an optimal rotation to fit a series of vector measurements. In this paper, a rigorous analysis of the famous Wahba problem on SO(n) is presented. The entire set of solutions is obtained using both a singular value decomposition and matrix square-root method. Conditions for uniqueness of solutions are also obtained, correcting some errors in the existing literature. It is then shown that under a mild condition, Wahba's problem can be recast as a convex optimization problem with linear matrix inequality constraints. This opens the door to a whole host of new possible solution methods for these types of Wahba problems. American Astronautical Society, 2014 Wahba's problem nationallicence SO(n) nationallicence Matrix square root nationallicence Singular value decomposition nationallicence Linear matrix inequalities nationallicence de Ruiter Anton Department of Aerospace Engineering, Ryerson University, 350 Victoria Street, Toronto, Ontario M5B 2K3, Canada aut Forbes James Department of Aerospace Engineering, University of Michigan, 1320 Beal Avenue, 48109, Ann Arbor, Michigan, USA aut The Journal of the Astronautical Sciences Springer US; http://www.springer-ny.com 60/1(2013-03-01), 1-31 0021-9142 60:1<1 2013 60 40295 https://doi.org/10.1007/s40295-014-0019-8 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s40295-014-0019-8 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- de Ruiter Anton Department of Aerospace Engineering, Ryerson University, 350 Victoria Street, Toronto, Ontario M5B 2K3, Canada aut NATIONALLICENCE 700 1- Forbes James Department of Aerospace Engineering, University of Michigan, 1320 Beal Avenue, 48109, Ann Arbor, Michigan, USA aut NATIONALLICENCE 773 0- The Journal of the Astronautical Sciences Springer US; http://www.springer-ny.com 60/1(2013-03-01), 1-31 0021-9142 60:1<1 2013 60 40295 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer