Vision-aided Spacecraft Relative Pose Estimation via Dual Quaternions

Daniel Choukroun, Yigal Zivan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations


Two novel dual quaternion Kalman filters for pose estimation in a satellite relative navigation problem are developed in this work. The satellites are assumed to be equipped with a vision navigation system that provides batches of intersatellite lines-of-sight. The measurements of the inertial angular velocities and the relative translation velocity are corrupted by additive biases and white noises and transferred over an intersatellite link for processing. Novel techniques of the dual quaternion nonlinear constraints are proposed: 1) a normalization and projection step along with a partial reset, and 2) pseudo-measurement updates. Extensive Monte-Carlo simulation results, along with a detailed numerical study of the observability Gramians, illustrate the relative advantage of the proposed dual quaternion filters over various state-of-the-art pose filters.

Original languageEnglish
Title of host publication2019 IEEE 58th Conference on Decision and Control, CDC 2019
PublisherInstitute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)9781728113982
StatePublished - 1 Dec 2019
Event58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France
Duration: 11 Dec 201913 Dec 2019

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370


Conference58th IEEE Conference on Decision and Control, CDC 2019

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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