- The feasibility of including rotational dynamic constraints in the process of satellite photogrammetric triangulation is demonstrated. An analytical solution and the corresponding analytic expressions for the partial derivatives with respect to initial conditions are given for the idealized case of the torque-free motion of a rigid triaxial satellite. The development of a state transition matrix solution for the direction cosines is included. This state transition matrix allows the satellite principal axes to be tracked relative to any arbitrary inertial reference frame. It also enables essential uncoupling of the partial derivatives with respect to initial Euler angles from those with respect to initial angular velocities. Comparative computer results for various sets of dynamic constraints are summarized. 1977 American Institute of Aeronautics and Astronautics, Inc. All rights reserved.