A New Method to Introduce "a priori" Information in Quest
The solution of the Wahba problem, a nonlinear least-squares performance index for attitude determination, does not naturally extend to include initial conditions. A multiplicative way of introducing a priori information into the Wahba performance index is shown.
Zanetti, Renato and Bishop, Robert H., "A New Method to Introduce "a priori" Information in Quest" (2007). Mechanical Engineering Faculty Research and Publications. 17.