<h2>AAS 95-300</h2><h2>Estimation of Rotating Body Attitude by Quaternion Filter</h2><h4>L. Meister (Aramanovitch), TH Darmstaddt, Germany</h4><h2> Abstract </h2>A problem of optimal estimation of a rotating body attitude with both differential equation of motion and observations of stars is considered in quaternion form.  Various algorithms for the problem based on matrix-vector representation or mixed matrix-vector and quaternion representation were investigated by many authors.  Using the Lagrange multipliers' method the problem is solved analytically.  It is shown that in accordance with a relative position of the observed stars the problem can have one, two, three or four types of solutions.  All the types are represented in the paper.
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