Single-point optimal attitude determination using Modified Rodrigues Parameters

This paper presents a novel single-point optimal attitude determination algorithm in terms of the Modified Rodrigues Parameters. The resulting algorithm is faster than the fastest available algorithm and it is singularity-free. The proposed technique states the Second Estimator of the Optimal Quaternion algorithm, whereas the quaternion used in the algorithmis replaced by the MRP. Simulation results illustrate that the proposed attitude determination algorithm can be an efficient alternative over the quaternion-based algorithm in terms of computational efficiency for singularity-free optimal attitude representation.