@inproceedings{3d6b2d6c056c41d49733273eb3213712,
title = "Analytical state transition matrix for dual-quaternions for spacecraft pose estimation",
abstract = "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.",
author = "Goodyear, {Andrew M.S.} and Puneet Singla and Spencer, {David B.}",
note = "Publisher Copyright: {\textcopyright} 2020, Univelt Inc. All rights reserved. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.; AAS/AIAA Astrodynamics Specialist Conference, 2019 ; Conference date: 11-08-2019 Through 15-08-2019",
year = "2020",
language = "English (US)",
isbn = "9780877036654",
series = "Advances in the Astronautical Sciences",
publisher = "Univelt Inc.",
pages = "393--411",
editor = "Horneman, {Kenneth R.} and Christopher Scott and Hansen, {Brian W.} and Hussein, {Islam I.}",
booktitle = "AAS/AIAA Astrodynamics Specialist Conference, 2019",
address = "United States",
}