Algorithm 4: Vasconcelos et al. [2]

Initial Estimate Step 1: Use the sensors’ measurements $y_k$, $k=1,2,\cdots ,K$ and form A and b according to (37) and (38), respectively. Step 2: Calculate p using (39) Step 3: Derive the initial estimates $\widehat{T}\left(0\right)$ and $h\left(0\right)$ using (40) and (41), respectively. Newton Method Step 4: Use the initial estimates $\widehat{T}\left(0\right)$ and $h\left(0\right)$ to initialize x according to (34). Step 5: Update x using (35). Step 6: Evaluate the cost function $J\left(x\right)$ of (33). Step 7: Repeat Steps 5–6 until $J\left(x\right)$ becomes sufficiently small. Step 8: Split x into $\widehat{T}$ and h and calculate $T={\widehat{T}}^{-1}$.