Nearly Analytical Pose Estimation John McInroy University of Wyoming A nearly analytical, two step process for pose estimation from a single camera is developed. Step 1: Solution of a least squares matrix problem, followed by projection onto the nearest scaled subunitary matrix. Step 2: Solution of a least squares vector problem, followed by projection onto SO(3) For the same level of accuracy, only 1.27 iterations are required, vs. 37.4 for a popular method The method is tested on simulated images of a satellite.