Abstract
A numerical method for solving a class of constrained minimization problems encountered in quaternion data fusion is presented. The quaternion constraints are handled by the method of Lagrange multipliers. The number of the stationary points of the minimization problem is finite and all of them are found by solving via homotopy continuation a system of polynomial equations. The global minimizer is the stationary point that minimizes the loss function of the minimization problem. A numerical example of two-quaternion data fusion is given to illustrate the viability of the method as a global minimization method for quaternion data fusion.
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Cheng, Y., Banas, W.D., Crassidis, J.L. (2015). Quaternion Data Fusion. In: Choukroun, D., Oshman, Y., Thienel, J., Idan, M. (eds) Advances in Estimation, Navigation, and Spacecraft Control. ENCS 2012. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44785-7_23
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DOI: https://doi.org/10.1007/978-3-662-44785-7_23
Publisher Name: Springer, Berlin, Heidelberg
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