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(Disclaimer : I know very well that $SO(N)$ has a Lie algebra of dimension $N(N-1)/2$ etc. This absolutely not the point of my question.) To make my problem more understandable, I start with the ...

Let $A\in \mathbb{R}^{m\times n}$, $m>n$, $rank(A)=n$, and $\forall 1 \leq i \leq m, 1 \leq j \leq n, A(i, j)>0$, $y=[1, 1, 1, ..., 1]^T$. Let $\beta=A(A^TA)^{-1}A^Ty$, how to prove that each ...