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Nonlinear Observability Analysis of Dual-Quaternion Relative-Pose Systems

An analytic, Lie-derivative-based observability study of a six-degree-of-freedom relative-pose estimation system modeled with dual quaternions, showing that the dual-quaternion representation yields block-triangular Jacobian and observability matrices that satisfy the full-rank condition for local weak observability.

B9 Text

2501.00657

Performs a Lie-algebraic nonlinear observability analysis of a relative-pose (position and orientation) estimation system for robotics and spacecraft proximity operations, where the state is represen…