Extended Kalman Filter for Spacecraft Pose Estimation Using Dual Quaternions

Based on the highly successful quaternion multiplicative extended Kalman filter for spacecraft attitude estimation using unit quaternions, this paper proposes a dual quaternion multiplicative extended Kalman filter for spacecraft pose (i.e., attitude and position) and linear and angular velocity estimation using unit dual quaternions. By using the concept of error unit dual quaternion, defined analogously to the concept of error unit quaternion in the quaternion multiplicative extended Kalman filter, this paper proposes, as far as the authors know, the first multiplicative extended Kalman filter for pose estimation. The state estimate of the dual quaternion multiplicative extended Kalman filter can directly be used by recently proposed pose controllers based on dual quaternions, without any additional conversions, thus providing an elegant solution to the output dynamic compensation problem of the full six degree-of-freedom motion of a rigid body. Three formulations of the dual quaternion multiplicative e...

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