This paper presents a novel single-point optimal attitude determination algorithm in terms of
the Modified Rodrigues Parameters. The resulting algorithm is faster than the fastest
available algorithm and it is singularity-free. The proposed technique states the Second
Estimator of the Optimal Quaternion algorithm, whereas the quaternion used in the algorithm
is replaced by the MRP. Simulation results illustrate that the proposed attitude determination
algorithm can be an efficient alternative over the quaternion-based algorithm in terms of …