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CEAS EuroGNC 2026

Single-Frame Pose Estimation and Performance Analysis
Caitong Peng PhD Candidate, Department of Electrical and Computer Engineering, Ben-Gurion University of the Negev, Beer-Sheva, Israel.
Daniel Choukroun Senior Lecturer, Department of Mechanical Engineering, Ben-Gurion University of the Negev, Beer-Sheva, Israel.
Abstract:
This study presents an error analysis of a specific single-frame dual-quaternion batch estimator that employs point and unit vector measurements. The estimator addresses a constrained least-squares optimization by minimizing a cost function that aggregates orientation and position errors. An eigenvalue-based error analysis is developed for the first time for that dual quaternion estimator, yielding closed-form expressions for the three-dimensional attitude and translation error vectors and their covariance matrices. Extensive Monte Carlo simulations validate the accuracy of these analytical predictions.
Keywords: Batch Pose Estimation; Dual Quaternions; Error Analysis
 View PDF CEAS-GNC-2026-011 doi: 10.82124/CEAS-GNC-2026-011


Caitong Peng, Daniel Choukroun: Single-Frame Pose Estimation and Performance Analysis. Proceedings of the 2026 CEAS EuroGNC conference. Madrid, Spain. May 2026. doi: 10.82124/CEAS-GNC-2026-011.
BibTeX entry (UTF-8):

@Incollection{CEAS-GNC-2026-011,
    author = {Peng, Caitong and Choukroun, Daniel},
    title = {Single-Frame Pose Estimation and Performance Analysis},
    booktitle = {Proceedings of the 2026 {CEAS EuroGNC} conference},
    address = {Madrid, Spain},
    month = may,
    year = {2026},
    doi = {10.82124/CEAS-GNC-2026-011}
}