SE(3)-Constrained Extended Kalman Filtering for Rigid Body Pose Estimation

Mathavaraj S, Eric Butcher

Research output: Contribution to journalArticlepeer-review


In this paper, an SE(3)-constrained extended Kalman filter is proposed in continuous time as well as in a more practical continuous-discrete framework. The filter allows for the state estimation of the 6-DOF rigid body motion while accounting for measurement error statistics and using the rotation matrix instead of an quaternions or other attitude parameterizations. The proposed filter differs from the recently proposed SO(3)-constrained attitude filter in that only a subset of the configuration states are constrained in the present filter. Its effectiveness is demonstrated in a numerical example in which its performance is compared with that of an existing SE(3) estimator from the literature and a Monte Carlo simulation is out carried out to provide credence to the accuracy of the proposed filter.

Original languageEnglish (US)
JournalIEEE Transactions on Aerospace and Electronic Systems
StateAccepted/In press - 2021


  • Aerodynamics
  • Estimation
  • Kalman filter
  • Kalman filters
  • Optical sensors
  • Optical variables measurement
  • Quaternions
  • SE(3)
  • Velocity measurement
  • pose estimation
  • rigid bodies
  • rotation matrix

ASJC Scopus subject areas

  • Aerospace Engineering
  • Electrical and Electronic Engineering


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