DUAL ALGEBRA SOLUTIONS TO THE EXTENDED WAHBA PROBLEM

Abstract

In this paper an extension of the classical attitudeWahba’s problem to a new problem that involves both position and attitude is presented. This new problem is illustrated in the dual algebra of orthogonal dual tensors. Our approach makes use of the isomorphism between the special euclidean group S_E3 and the orthogonal dual tensors group SO₃, which allows the development of a new technique for solving the proposed problem. This new Wahba problem is directly related to different applications such as point-to-point registration and sensor calibration.