Estimate Optimal Coefficients based on Reduced-Drift Virtual Gyro

This function computes the optimal coefficients for a linear combination of \(p\) gyroscopes according to Equation (43) in Richard J. Vaccaro and Ahmed S. Zaki, "Reduced-Drift Virtual Gyro from an Array of Low-Cost Gyros".

find_optimal_coefs_vaccaro(Q)

Arguments

Q

A matrix of size \(p\) by \(p\) specifying the covariance of the random walk innovation.

Value

c A vector of coefficients.

Author

Davide Antonio Cucci