AttitudeEstimator.estimate

giant.stellar_opnav.estimators.attitude_estimator:

abstractmethod AttitudeEstimator.estimate(target_frame_directions, base_frame_directions, weights)[source]

This method solves for the rotation matrix that best aligns the unit vectors in base_frame_directions with the unit vectors in target_frame_directions and returns the results

The solved for rotation should represent the best fit rotation from the base frame to the target frame.

This method should also prepare the post_fit_covariance attribute if applicable

Parameters:

  • target_frame_directions (ndarray[tuple[Any, ...], dtype[float64]]) – unit vectors in the target frame as a 3xn double array

  • base_frame_directions (ndarray[tuple[Any, ...], dtype[float64]]) – unit vectors in the base frame as a 3xn double array

  • weights (ndarray[tuple[Any, ...], dtype[float64]] | None) – the weights for each observation or None

Return type:

Rotation