{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/unified-attitude-determination-problem-from","title":"Unified Attitude Determination Problem from Vector Observations and Hand-eye Measurements","arxiv_id":"1909.13119","date":"2020-03-25","proceeding":null,"authors":[],"abstract":"The hand-eye measurements have recently been proven to be very efficient for\nspacecraft attitude determination relative to an ellipsoidal asteroid. However,\nrecent method does not guarantee full attitude observability for all\nconditions. This paper refines this problem by taking the vector observations\ninto account so that the accuracy and robustness of the spacecraft attitude\nestimation can be improved. The vector observations come from many sources\nincluding visual perspective geometry, optical navigation and point clouds that\nfrequently occur in aerospace electronic systems. Completely closed-form\nsolutions along with their uncertainty descriptions are presented for the\nproposed problem. Experiments using our simulated dataset and real-world\nspacecraft measurements from NASA dawn spacecraft verify the effectiveness and\nsuperiority of the derived solution.","url_abs":"http://arxiv.org/abs/1909.13119v2","url_pdf":"http://arxiv.org/pdf/1909.13119v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"unified-attitude-determination-problem-from","repo_url":"https://github.com/zarathustr/vec_hand_eye_att","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}