Quaternion Estimator Algorithm
The quaternion estimator algorithm (QUEST) is an algorithm designed to solve Wahba's problem, that consists of finding a rotation matrix between two coordinate systems from two sets of observations sampled in each system respectively. The key idea behind the algorithm is to find an expression of the loss function for the Wahba's problem as a quadratic form, using the Cayley–Hamilton theorem and the Newton–Raphson method to efficiently solve the eigenvalue problem and construct a numerically stable representation of the solution. The algorithm was introduced by Malcolm D. Shuster in 1981, while working at Computer Sciences Corporation.Shuster and Oh (1981) While being in principle less robust than other methods such as Davenport's q method or singular value decomposition, the algorithm is significantly faster and reliable in practical applications,Markley and Mortari (2000) and it is used for attitude determination problem in fields such as robotics and avionics.Xiaoping et al ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
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Algorithm
In mathematics and computer science, an algorithm () is a finite sequence of Rigour#Mathematics, mathematically rigorous instructions, typically used to solve a class of specific Computational problem, problems or to perform a computation. Algorithms are used as specifications for performing calculations and data processing. More advanced algorithms can use Conditional (computer programming), conditionals to divert the code execution through various routes (referred to as automated decision-making) and deduce valid inferences (referred to as automated reasoning). In contrast, a Heuristic (computer science), heuristic is an approach to solving problems without well-defined correct or optimal results.David A. Grossman, Ophir Frieder, ''Information Retrieval: Algorithms and Heuristics'', 2nd edition, 2004, For example, although social media recommender systems are commonly called "algorithms", they actually rely on heuristics as there is no truly "correct" recommendation. As an e ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
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Quaternion
In mathematics, the quaternion number system extends the complex numbers. Quaternions were first described by the Irish mathematician William Rowan Hamilton in 1843 and applied to mechanics in three-dimensional space. The algebra of quaternions is often denoted by (for ''Hamilton''), or in blackboard bold by \mathbb H. Quaternions are not a field, because multiplication of quaternions is not, in general, commutative. Quaternions provide a definition of the quotient of two vectors in a three-dimensional space. Quaternions are generally represented in the form a + b\,\mathbf i + c\,\mathbf j +d\,\mathbf k, where the coefficients , , , are real numbers, and , are the ''basis vectors'' or ''basis elements''. Quaternions are used in pure mathematics, but also have practical uses in applied mathematics, particularly for calculations involving three-dimensional rotations, such as in three-dimensional computer graphics, computer vision, robotics, magnetic resonance i ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
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Triad Method
The TRIAD method is the earliest published algorithm for determining spacecraft attitude, which was first introduced by Harold Black in 1964. Given the knowledge of two vectors in the reference and body coordinates of a satellite, the TRIAD algorithm obtains the direction cosine matrix relating to both frames. Harold Black played a key role in the development of the guidance, navigation, and control of the U.S. Navy's Transit satellite system at Johns Hopkins Applied Physics Laboratories. TRIAD represented the state of practice in spacecraft attitude determination before the advent of Wahba's problem and its several optimal solutions. Covariance analysis for Black's solution was subsequently provided by Markley. Summary Firstly, one considers the linearly independent reference vectors \vec_ and \vec_2 . Let \vec_1, \vec_2 be the corresponding measured directions of the reference unit vectors as resolved in a body fixed frame of reference. Following that, they are then related by ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
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Newton–Raphson Method
In numerical analysis, the Newton–Raphson method, also known simply as Newton's method, named after Isaac Newton and Joseph Raphson, is a root-finding algorithm which produces successively better approximations to the roots (or zeroes) of a real-valued function. The most basic version starts with a real-valued function , its derivative , and an initial guess for a root of . If satisfies certain assumptions and the initial guess is close, then x_ = x_0 - \frac is a better approximation of the root than . Geometrically, is the x-intercept of the tangent of the graph of at : that is, the improved guess, , is the unique root of the linear approximation of at the initial guess, . The process is repeated as x_ = x_n - \frac until a sufficiently precise value is reached. The number of correct digits roughly doubles with each step. This algorithm is first in the class of Householder's methods, and was succeeded by Halley's method. The method can also be extended to c ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
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Commutative Ring
In mathematics, a commutative ring is a Ring (mathematics), ring in which the multiplication operation is commutative. The study of commutative rings is called commutative algebra. Complementarily, noncommutative algebra is the study of ring properties that are not specific to commutative rings. This distinction results from the high number of fundamental properties of commutative rings that do not extend to noncommutative rings. Commutative rings appear in the following chain of subclass (set theory), class inclusions: Definition and first examples Definition A ''ring'' is a Set (mathematics), set R equipped with two binary operations, i.e. operations combining any two elements of the ring to a third. They are called ''addition'' and ''multiplication'' and commonly denoted by "+" and "\cdot"; e.g. a+b and a \cdot b. To form a ring these two operations have to satisfy a number of properties: the ring has to be an abelian group under addition as well as a monoid under m ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Rodrigues' Rotation Formula
In the theory of three-dimensional rotation, Rodrigues' rotation formula, named after Olinde Rodrigues, is an efficient algorithm for rotating a vector in space, given an axis and angle of rotation. By extension, this can be used to transform all three basis vectors to compute a rotation matrix in , the group of all rotation matrices, from an axis–angle representation. In terms of Lie theory, the Rodrigues' formula provides an algorithm to compute the exponential map from the Lie algebra to its Lie group . This formula is variously credited to Leonhard Euler, Olinde Rodrigues, or a combination of the two. A detailed historical analysis in 1989 concluded that the formula should be attributed to Euler, and recommended calling it "Euler's finite rotation formula." This proposal has received notable support, but some others have viewed the formula as just one of many variations of the Euler–Rodrigues formula, thereby crediting both. Statement If is a vector in and ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
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Characteristic Polynomial
In linear algebra, the characteristic polynomial of a square matrix is a polynomial which is invariant under matrix similarity and has the eigenvalues as roots. It has the determinant and the trace of the matrix among its coefficients. The characteristic polynomial of an endomorphism of a finite-dimensional vector space is the characteristic polynomial of the matrix of that endomorphism over any basis (that is, the characteristic polynomial does not depend on the choice of a basis). The characteristic equation, also known as the determinantal equation, is the equation obtained by equating the characteristic polynomial to zero. In spectral graph theory, the characteristic polynomial of a graph is the characteristic polynomial of its adjacency matrix. Motivation In linear algebra, eigenvalues and eigenvectors play a fundamental role, since, given a linear transformation, an eigenvector is a vector whose direction is not changed by the transformation, and the correspondi ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
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Eigenvalue
In linear algebra, an eigenvector ( ) or characteristic vector is a vector that has its direction unchanged (or reversed) by a given linear transformation. More precisely, an eigenvector \mathbf v of a linear transformation T is scaled by a constant factor \lambda when the linear transformation is applied to it: T\mathbf v=\lambda \mathbf v. The corresponding eigenvalue, characteristic value, or characteristic root is the multiplying factor \lambda (possibly a negative or complex number). Geometrically, vectors are multi-dimensional quantities with magnitude and direction, often pictured as arrows. A linear transformation rotates, stretches, or shears the vectors upon which it acts. A linear transformation's eigenvectors are those vectors that are only stretched or shrunk, with neither rotation nor shear. The corresponding eigenvalue is the factor by which an eigenvector is stretched or shrunk. If the eigenvalue is negative, the eigenvector's direction is reversed. Th ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Eigenvector
In linear algebra, an eigenvector ( ) or characteristic vector is a vector that has its direction unchanged (or reversed) by a given linear transformation. More precisely, an eigenvector \mathbf v of a linear transformation T is scaled by a constant factor \lambda when the linear transformation is applied to it: T\mathbf v=\lambda \mathbf v. The corresponding eigenvalue, characteristic value, or characteristic root is the multiplying factor \lambda (possibly a negative or complex number). Geometrically, vectors are multi- dimensional quantities with magnitude and direction, often pictured as arrows. A linear transformation rotates, stretches, or shears the vectors upon which it acts. A linear transformation's eigenvectors are those vectors that are only stretched or shrunk, with neither rotation nor shear. The corresponding eigenvalue is the factor by which an eigenvector is stretched or shrunk. If the eigenvalue is negative, the eigenvector's direction is reversed. ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
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Lagrange Multiplier
In mathematical optimization, the method of Lagrange multipliers is a strategy for finding the local maxima and minima of a function (mathematics), function subject to constraint (mathematics), equation constraints (i.e., subject to the condition that one or more equations have to be satisfied exactly by the chosen values of the variable (mathematics), variables). It is named after the mathematician Joseph-Louis Lagrange. Summary and rationale The basic idea is to convert a constrained problem into a form such that the derivative test of an unconstrained problem can still be applied. The relationship between the gradient of the function and gradients of the constraints rather naturally leads to a reformulation of the original problem, known as the Lagrangian function or Lagrangian. In the general case, the Lagrangian is defined as \mathcal(x, \lambda) \equiv f(x) + \langle \lambda, g(x)\rangle for functions f, g; the notation \langle \cdot, \cdot \rangle denotes an inner prod ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
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Skew-symmetric Matrix
In mathematics, particularly in linear algebra, a skew-symmetric (or antisymmetric or antimetric) matrix is a square matrix whose transpose equals its negative. That is, it satisfies the condition In terms of the entries of the matrix, if a_ denotes the entry in the i-th row and j-th column, then the skew-symmetric condition is equivalent to Example The matrix A = \begin 0 & 2 & -45 \\ -2 & 0 & -4 \\ 45 & 4 & 0 \end is skew-symmetric because A^\textsf = \begin 0 & -2 & 45 \\ 2 & 0 & 4 \\ -45 & -4 & 0 \end = -A . Properties Throughout, we assume that all matrix entries belong to a field \mathbb whose characteristic is not equal to 2. That is, we assume that , where 1 denotes the multiplicative identity and 0 the additive identity of the given field. If the characteristic of the field is 2, then a skew-symmetric matrix is the same thing as a symmetric matrix. * The sum of two skew-symmetric matrices is skew-symmetric. * A scalar ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
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Avionics
Avionics (a portmanteau of ''aviation'' and ''electronics'') are the Electronics, electronic systems used on aircraft. Avionic systems include communications, Air navigation, navigation, the display and management of multiple systems, and the hundreds of systems that are fitted to aircraft to perform individual functions. These can be as simple as a searchlight for a police helicopter or as complicated as the tactical system for an airborne early warning platform. History The term "avionics" was coined in 1949 by Philip J. Klass, senior editor at ''Aviation Week & Space Technology'' magazine as a portmanteau of "aviation electronics". Radio communication was first used in aircraft just prior to World War I. The first Airborne radio relay, airborne radios were in zeppelins, but the military sparked development of light radio sets that could be carried by heavier-than-air craft, so that aerial reconnaissance biplanes could report their observations immediately in case they we ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |