Nonlinear State and Mass Property Estimation via Square-Root Unscented Kalman Filter on TSE(3) with Windowing Function

Nonlinear State and Mass Property Estimation via Square-Root Unscented Kalman Filter on TSE(3) with Windowing Function | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Nonlinear State and Mass Property Estimation via Square-Root Unscented Kalman Filter on TSE(3) with Windowing Function Herman Gunter, Marco Fagetti, Morad Nazari, Matthew M. Wittal, and 1 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-7217191/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract Mass property estimation, encompassing mass, center of mass, and moment of inertia, represents a fundamental yet inherently challenging problem in spacecraft autonomy and astrodynamics. Accurate estimation of these properties enables significant reductions in operational overhead and enhances spacecraft control performance. This paper builds upon previous work [1–3] by proposing a robust dual square-root unscented Kalman filter framework defined on the tangent bundle of the special Euclidean group TSE(3) explicitly designed for nonlinear mass property estimation. The primary contributions of this work are as follows: (1) a novel windowing strategy that improves estimator stability and convergence under large initial uncertainties; (2) incorporation of a numerical propagation technique, specifically adapted for use on SE(3), to enhance dynamic accuracy; and (3) development of a systematic open-loop thruster excitation sequence that minimizes actuation demands while ensuring adequate excitation for reliable parameter identification. Comprehensive Monte Carlo simulations validate the proposed approach, demonstrating rapid convergence, robustness to substantial initial estimation errors, and resilience to sensor noise characteristics typical of commercially available spacecraft instrumentation. special Euclidean group nonlinear estimation unscented Kalman filter parameter estimation Full Text Additional Declarations Competing interest reported. This work has been supported by NASA under contract No. AIS-E3-22-005. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-7217191","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":545268147,"identity":"734f12e4-fca8-459b-bde0-69cb76df45fc","order_by":0,"name":"Herman Gunter","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA4ElEQVRIiWNgGAWjYPCCAzz8SDwDQsoZG4BaZCQbSNViY3CAWC3yEbnHH3zcc4fH+NoZA4aPe+wSG9ibt0ng02J4Iy+xccazZzxmt3MMGGc8S05s4DlWhl/LjBzDZp4Dh8FamHkOMCc2SOSYEdbyB6jFeDZQy58D9YkN8m/wa5GXAGphAGoxkAZqATKAtvDg12LA88ZwZg9Qi8TttIKDPQeOG7fxpBVb4LWlPcfgw48Dh+35ZydvfPDjQLVsP/vhjTfw2nIAzuSAsNnwKQfb0gBnsj8gpHgUjIJRMApGKAAAdlhPE4Ne2JkAAAAASUVORK5CYII=","orcid":"","institution":"Embry–Riddle Aeronautical University","correspondingAuthor":true,"prefix":"","firstName":"Herman","middleName":"","lastName":"Gunter","suffix":""},{"id":545268148,"identity":"27987bb2-6aca-4fbf-8a0c-863566bcd681","order_by":1,"name":"Marco Fagetti","email":"","orcid":"","institution":"Embry–Riddle Aeronautical University","correspondingAuthor":false,"prefix":"","firstName":"Marco","middleName":"","lastName":"Fagetti","suffix":""},{"id":545268149,"identity":"2cd7c9d8-5167-40ce-aa06-10ab7e8b98fe","order_by":2,"name":"Morad Nazari","email":"","orcid":"","institution":"Embry–Riddle Aeronautical University","correspondingAuthor":false,"prefix":"","firstName":"Morad","middleName":"","lastName":"Nazari","suffix":""},{"id":545268150,"identity":"ee3d2a8d-9d1a-47f1-adda-879ad3cb3d3a","order_by":3,"name":"Matthew M. 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