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   A stellar attitude determination system that does not use gyros
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   Form:
   [q, p, qOld, w] = AttDetNoGyros( q, qOld, w, dT, p, Q, r, qBToS, starData, starCatalog, fScale, init )
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   Inputs
   ------
   q            (4,1)     Attitude quaternion
   qOld         (4,1)     Last attitude quaternion
   w            (3,1)     Body rate
   dT                     Time step
   p            (6,6)     State covariance matrix
   Q            (6,6)     State noise covariance
   r                      Measurement noise
   qBToS        (4,1)     Quaternion from body to sensor axes
   starData     (m,3)     Vector of [intensity,xloc,yloc]
   starCatalog  (4,p)     Star catalog [intensity;u]
   fScale                 Sensor scale factor
   init         (1,1)     Init

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   Outputs
   -------
   q            (4,1)     Attitude quaternion
   p            (3,3)     State covariance matrix
   qOld         (4,1)     Old quaternion
   w            (3,1)     Rate

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