Spacecraft Attitude Determination Using Global Positioning Satellite Signals
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For which
is a constant and
is a 9x9 identity matrix. Including this term yields the GNLM method (Gauss-Newton-Levenberg-Marquardt Method).
To
determine the value of
that should be used, 0.001 is used initially. If
,
is increased by a factor of 10
and the calculation for
is reaccomplished.
This continues until
(Gauss-Newton-Levenberg-Marquardt Method).
If
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(19)
is a 9x9 identity matrix. Including this term yields the GNLM method (Gauss-Newton-Levenberg-Marquardt Method).
, 
is reaccomplished. 
(Gauss-Newton-Levenberg-Marquardt Method).