Kalman filtering for relative spacecraft attitude and position estimation

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Survey of nonlinear attitude estimation methods (2007, background): “Note that the matrices and commute, which has some useful consequences [98].”
Application of Synchronization to Formation Flying Spacecraft: Lagrangian Approach (2008, background): “If we assume that a relative attitude metrology system, similar to [42,43], is available in addition to each spacecraft’s own attitude measurement with respect to the inertial frame, the relative attitude errors (e.”