Analytical 3D rotation estimation using vector measurements with full variance-covariance matrix

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• 作者：Tianhe Xu^a ; ^c ; Guobin Chang^b ; ^c ; ^{guobinchang@hotmail.com} ; Qianxin Wang^b ; ^c ; Chao Hu^b
• 关键词：3D rotation estimation ; Weighted least-squares ; Special orthogonal matrix ; Vector measurements ; Error analysis
• 刊名：Measurement
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：98
• 期：Complete
• 页码：131-138
• 全文大小：516 K
• 卷排序：98

文摘

The method can be applied to vector measurements with full variance-covariance matrix. The rotation matrix is estimated in two steps both of which are optimal in their own. The solution is analytical. Special case with only 2 non-collinear vector measurements is treated. Error analysis of the solution is provided.