diff --git a/cflib/localization/lighthouse_initial_estimator.py b/cflib/localization/lighthouse_initial_estimator.py
index 722e66d1e..70778b1a9 100644
--- a/cflib/localization/lighthouse_initial_estimator.py
+++ b/cflib/localization/lighthouse_initial_estimator.py
@@ -373,9 +373,9 @@ def _avarage_poses(cls, poses: list[Pose]) -> Pose:
         """
         def q_average(Q, W=None):
             if W is not None:
-                Q *= W[:, None]
-            eigvals, eigvecs = np.linalg.eig(Q.T@Q)
-            return eigvecs[:, eigvals.argmax()]
+                Q = Q * W[:, None]
+            _, eigvecs = np.linalg.eigh(Q.T @ Q)
+            return eigvecs[:, -1]
 
         positions = map(lambda x: x.translation, poses)
         average_pos = np.average(np.array(list(positions)), axis=0)