Analytical state transition matrix for dual-quaternions for spacecraft pose estimation

Andrew M.S. Goodyear, Puneet Singla, David B. Spencer

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations


An analytical expression for a state transition matrix (STM) is preferable to numerical integration of the STM for real-time estimation of spacecraft pose. With a discrete STM for a dual quaternion state vector, the dual quaternion error covariance can be propagated analytically between two measurement time intervals. This work provides two analytic solutions for a dual quaternion STM, dual quaternion error STM, and discrete process noise covariance matrices. These state transition matrices are utilized to compute innovation terms in the update part of the EKF. Numerical simulations show that the STM agree with the numerically integrated dual quaternion kinematics, and the STM are also demonstrated to be viable for EKF development.

Original languageEnglish (US)
Title of host publicationAAS/AIAA Astrodynamics Specialist Conference, 2019
EditorsKenneth R. Horneman, Christopher Scott, Brian W. Hansen, Islam I. Hussein
PublisherUnivelt Inc.
Number of pages19
ISBN (Print)9780877036654
StatePublished - 2020
EventAAS/AIAA Astrodynamics Specialist Conference, 2019 - Portland, United States
Duration: Aug 11 2019Aug 15 2019

Publication series

NameAdvances in the Astronautical Sciences
ISSN (Print)0065-3438


ConferenceAAS/AIAA Astrodynamics Specialist Conference, 2019
Country/TerritoryUnited States

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Space and Planetary Science


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