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B RR RR RB 1N1 2 N2 3 N3
Using the definitions of the transformation matrices presented earlier, we can write
N C N
T
T
T
N C N C C N
T
The inertial components of N 2 are given by the second row of C or the second
T
"Inertial Components"
(1)
We can use the same approach to determine an equation for the body-fixed
components, or we can simply use the results presented in Appendix II of Kane, Likins,
and Levinson, Spacecraft Dynamics, McGraw-Hill, 1983. Using those results,
1 C2C3 S3 0 1
2 C2 S3 C3 0 2
S
0 1 3
3 2
"Body-Fixed Components"
(2)
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R B
N 2
2
R B
N3
3
0
R B
B , 2 C1
2
S
1
S2
R B
B ,3 S1C2
3
CC
1 2
0 S1 C1C2
"Inertial Components"
(3)
Using the same process, we can define the body-fixed components of the partial velocity
vectors as a single matrix as
C2C3 S3 0
B , C2 S3 C3 0
S2
0 1
"Body-Fixed Components"
(4)
Note: We can define different forms of the partial angular velocity matrices associated
with each of the different orientation angle sets.
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R B
N2
2
R B
N3
3
0 0 1
"Inertial Components"
(5)
Body-Fixed Components
If we use the body-fixed components of R B as the generalized speeds, then the partial
angular velocities are
R B
e1
1
R B
e2
2
R B
e3
3
1 0 0
B , 0 1 0
0 0 1
"Body-Fixed Components"
(6)
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{} 2[ E ]{ }
"Inertial Components"
{ } 2[ E]{ }
"Body-Fixed Components"
Recall that in this case, {} and { } are 4 1 vectors. The first three elements of the
vectors are the components of R B and the last element is zero.
From these equations, we could define a set of partial angular velocities associated with
the Euler parameters. These are not particularly useful, however, because the Euler
parameters are not independent. In this case, it is natural to use the angular velocity
components as the generalized speeds as discussed above.
4/4