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This work presents a batch algorithm for estimating the angular velocity of a spinning body from a sequence of orientation measurements. Although the problem is nonlinear, we present a closed-form method which does not require iterations to obtain the solution.
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This page is a summary of: QuateRA: The Quaternion Regression Algorithm, Journal of Guidance Control and Dynamics, September 2020, American Institute of Aeronautics and Astronautics (AIAA),
DOI: 10.2514/1.g004375.
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