{"id":"https://openalex.org/W1563284204","doi":"https://doi.org/10.1109/acc.2015.7171823","title":"Extended Kalman Filter for spacecraft pose estimation using dual quaternions","display_name":"Extended Kalman Filter for spacecraft pose estimation using dual quaternions","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W1563284204","doi":"https://doi.org/10.1109/acc.2015.7171823","mag":"1563284204"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2015.7171823","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2015.7171823","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022051100","display_name":"Nuno Filipe","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Nuno Filipe","raw_affiliation_strings":["School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, 30332-0150 USA"],"affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, 30332-0150 USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110167965","display_name":"Michail Kontitsis","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michail Kontitsis","raw_affiliation_strings":["Postdoctoral Research Associate at the School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, 30332-0150 USA"],"affiliations":[{"raw_affiliation_string":"Postdoctoral Research Associate at the School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, 30332-0150 USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077667229","display_name":"Panagiotis Tsiotras","orcid":"https://orcid.org/0000-0001-7563-4129"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Panagiotis Tsiotras","raw_affiliation_strings":["School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, 30332-0150 USA"],"affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, 30332-0150 USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5022051100"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":1.6215,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.85960534,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"115","issue":null,"first_page":"3187","last_page":"3192"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9926000237464905,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.9584413766860962},{"id":"https://openalex.org/keywords/dual-quaternion","display_name":"Dual quaternion","score":0.8631319403648376},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.7130495309829712},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.7018228769302368},{"id":"https://openalex.org/keywords/spacecraft","display_name":"Spacecraft","score":0.6774979829788208},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6628139019012451},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.659123420715332},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.5357763767242432},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4857845604419708},{"id":"https://openalex.org/keywords/multiplicative-function","display_name":"Multiplicative function","score":0.46779853105545044},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.43048518896102905},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3811734616756439},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.34324929118156433},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25133228302001953},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.19790562987327576},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19433045387268066},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1637873351573944},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10996654629707336},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08599501848220825},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08201983571052551},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.07812649011611938}],"concepts":[{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.9584413766860962},{"id":"https://openalex.org/C145941777","wikidata":"https://www.wikidata.org/wiki/Q5310237","display_name":"Dual quaternion","level":3,"score":0.8631319403648376},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.7130495309829712},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.7018228769302368},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.6774979829788208},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6628139019012451},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.659123420715332},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.5357763767242432},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4857845604419708},{"id":"https://openalex.org/C42747912","wikidata":"https://www.wikidata.org/wiki/Q1048447","display_name":"Multiplicative function","level":2,"score":0.46779853105545044},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.43048518896102905},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3811734616756439},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34324929118156433},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25133228302001953},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.19790562987327576},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19433045387268066},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1637873351573944},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10996654629707336},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08599501848220825},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08201983571052551},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.07812649011611938},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2015.7171823","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2015.7171823","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W92559843","https://openalex.org/W844107008","https://openalex.org/W1482680353","https://openalex.org/W1500796970","https://openalex.org/W1606576120","https://openalex.org/W1689658419","https://openalex.org/W1980119849","https://openalex.org/W1983473126","https://openalex.org/W1998338226","https://openalex.org/W2060465646","https://openalex.org/W2076555782","https://openalex.org/W2084406883","https://openalex.org/W2101683779","https://openalex.org/W2106926718","https://openalex.org/W2110794641","https://openalex.org/W2111096969","https://openalex.org/W2117102490","https://openalex.org/W2117730228","https://openalex.org/W2132240870","https://openalex.org/W2317739906","https://openalex.org/W2319574154","https://openalex.org/W2324415134","https://openalex.org/W2331901616","https://openalex.org/W2333211553","https://openalex.org/W3022760595","https://openalex.org/W6623433737","https://openalex.org/W6629927905","https://openalex.org/W6676072244"],"related_works":["https://openalex.org/W2740396822","https://openalex.org/W2952144982","https://openalex.org/W3148357507","https://openalex.org/W780564130","https://openalex.org/W1601162398","https://openalex.org/W2161165109","https://openalex.org/W2134449806","https://openalex.org/W2338680999","https://openalex.org/W1493417993","https://openalex.org/W2541521634","https://openalex.org/W2199469138","https://openalex.org/W1486941995","https://openalex.org/W2171694323","https://openalex.org/W2316001447","https://openalex.org/W2509279381","https://openalex.org/W2123140726","https://openalex.org/W2347798134","https://openalex.org/W3027838527","https://openalex.org/W62450206","https://openalex.org/W1976285134"],"abstract_inverted_index":{"Based":[0],"on":[1,167],"the":[2,48,58,65,73,76,87,90,112,135,144,149,155],"highly":[3],"successful":[4],"Quaternion":[5,23],"Multiplicative":[6,24],"Extended":[7,25],"Kalman":[8,26],"Filter":[9,27],"(Q-MEKF)":[10],"for":[11,29,80,128,152],"spacecraft":[12,30],"attitude":[13,33],"estimation":[14,41],"using":[15,42,47],"unit":[16,43,52,62,98],"quaternions,":[17],"this":[18,67],"paper":[19,68],"proposes":[20],"a":[21,97,168],"Dual":[22],"(DQ-MEKF)":[28],"pose":[31,81,120],"(i.e.,":[32],"and":[34,36,38,160],"position)":[35],"linear":[37],"angular":[39],"velocity":[40],"dual":[44,53,99],"quaternions.":[45],"By":[46],"concept":[49,59],"of":[50,60,89,96,102,111,143],"error":[51,61],"quaternion,":[54,100],"defined":[55],"analogously":[56],"to":[57,84,141],"quaternion":[63],"in":[64,105],"Q-MEKF,":[66],"proposes,":[69],"as":[70,72],"far":[71],"authors":[74],"know,":[75],"first":[77],"multiplicative":[78],"EKF":[79,165],"estimation.":[82],"Compared":[83],"existing":[85],"literature,":[86],"state":[88],"DQ-MEKF":[91,113,156],"only":[92,118,139],"includes":[93],"six":[94],"elements":[95],"instead":[101],"eight,":[103],"resulting":[104],"obvious":[106],"computational":[107],"savings.":[108],"A":[109],"version":[110],"is":[114,126,157],"presented":[115],"that":[116],"takes":[117],"discrete-time":[119],"measurements":[121,142],"with":[122,162],"noise":[123],"and,":[124],"hence,":[125],"suitable":[127],"uncooperative":[129],"satellite":[130,137],"proximity":[131],"operation":[132],"scenarios":[133],"where":[134],"chaser":[136],"has":[138],"access":[140],"relative":[145,150],"pose,":[146],"but":[147],"requires":[148],"velocities":[151],"control.":[153],"Finally,":[154],"experimentally":[158],"validated":[159],"compared":[161],"two":[163],"alternative":[164],"formulations":[166],"5-DOF":[169],"air-bearing":[170],"platform.":[171]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
