We retrace Davenport's solution to Wahba's classic problem of aligning two pointclouds using the formalism of Geometric Algebra (GA). GA proves to be a natural backdrop for this problem involving three-dimensional rotations due to the isomorphism between unit-length quaternions and rotors. While the solution to this problem is not a new result, it is hoped that its treatment in GA will have tutorial value as well as open the door to addressing more complex problems in a similar way.

翻译：我们收回达文波特对Wahba利用几何代数(GA)的形式主义来调整两点的经典问题的解决方案。 事实证明,GA是这一问题的自然背景,它涉及三维旋转,因为单长四肢和转子之间的无定型。 虽然解决这一问题并不是一个新结果,但希望它在大会的处理将具有辅导价值,并打开以类似方式解决更复杂问题的大门。