Algorithm for Sensor Network Attitude Problem
  Sensor network attitude problem consists in retrieving the attitude of each sensor of a network knowing some relative orientations between pairs of sensors. The attitude of a sensor is its orientation in an absolute axis system. We present in this paper a method for solving the sensor network attitude problem using quaternion formalism which allows to apply linear algebra tools. The proposed algorithm solves the problem when all of the relative attitudes are known. A complete characterisation of the algorithm is established: spatial complexity, time complexity and robustness. Our algorithm is validated in simulations and with real experiments. 
Mikael Carmona, Olivier Michel, Jean-Louis Lacoume, Nathalie Sprynski   and Barbara Nicolas
math.OC cs.SY