This paper presents a novel single-point optimal attitude determination algorithm in terms of the Modified Rodrigues Vector. The proposed technique has been derived from the Second Estimator of the Optimal Quaternion algorithm replacing the quaternion with the Modified Rodrigues Vector. Simulation results illustrate that the proposed attitude determination algorithm can be an efficient alternative over the quaternion-based algorithms in terms of computational efficiency for optimal attitude representation since the Modified Rodrigues Vector is a minimal attitude representation. The use of the Modified Rodrigues Vector has proven useful in the development of Extended Kalman Filters for attitude estimation, because it reduces the length of the state vector and there is no need to enforce the unit length constraint as for the quaternion.
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