Vision-aided Spacecraft Relative Pose Estimation via Dual Quaternions. - Daniel Choukroun; Yigal Zivan (CDC, 2019)

Dual Quaternion Kalman Filtering and Observability Analysis for Satellite Relative Navigation With Line-of-Sight Measurements. - Yigal Zivan; Daniel Choukroun (IEEE Trans. Aerosp. Electron. Syst., 2022)