DavenportQMethod.compute_residuals

giant.stellar_opnav.estimators:

DavenportQMethod.compute_residuals()

This method computes the residuals between the aligned unit vectors according to Wahba’s problem definitions.

If the updated attitude has been estimated (rotation is not None) then this method computes the post-fit residuals. If not then this method computes the pre-fit residuals. The residuals are computed according to

\[r_i=\frac{1}{2}\left\|\mathbf{a}_i-\mathbf{T}\mathbf{b}_i\right\|^2\]

where \(r_i\) is the residual, \(\mathbf{a}_i\) is the camera direction unit vector, \(\mathbf{b}_i\) is the database direction unit vector, and \(\mathbf{T}\) is the solved for rotation matrix from the catalogue frame to the camera frame, or the identity matrix if the matrix hasn’t been solved for yet.

The output will be a length n array with each element representing the residual for the correspond unit vector pair.

Returns:

The residuals between the aligned unit vectors

Return type:

ndarray