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Euler Angles
Euler Axis/Angle
Quaternion
r B
T B r A
A
r2 A
or
The DCM can be formed by dot products of unit vectors of two frames
T B
iB iA
jB i A
k B iA
iB j A
iB k A
jB k A or
k B k A
jB j A
kB jA
R 2
1
R 2 r1 A
1
i2 i1
i2 j1
i2 k1
j2 i1
j2 j1
j2 k1
k2 i1
k 2 j1
k 2 k1
1 T
2
The nine elements are not independent because the DCM must be orthonormal
T B T A T A T B
A
=I
EULER ANGLES
Euler Angles are a particular sequence of three rotations about particular
reference frame axes. Both the sequence and the axes must be
specified to clearly define the attitude (rotation) of interest.
vB 1 = R B v1 1
1
where
R B R( )B R( )3 R(y )2
1
pitch
i1
j2
j1
yaw
i2
j2,j3
i2
k1,k2
k2
i3,iB
Rotate about k1
(angle y
k3
Rotate about j2
(angle
roll
Rotate about i3 j3
(angle
jB
k3
kB
1
R 2 0
0
c
s
i
j
2
1
R 2 0
s
c
1
R 2 s
0
1
0
s
c
0
0
j
0
c cy
1
R321 y , , B c sy s s cy
s sy c s cy
c sy
c cy s s sy
s cy c s sy
s c
c c
cos
1
2
tr R 1
1
R23 R32
1
R31 R13
e1
2sin
R12 R21
Shuster, M., "Survey of Attitude Representations," Journal of Astronautical Sciences, Vol. 41, No. 4, Oct.-Dec. 1993. pp. 439-517.
NOTATION
r b r B b r1b1 r2b2 r3b3
T
r b [[b ]B ] r B
B
0
[[b ]B ] b3
b2
c = cos()
s = sin()
b3
0
b1
b2
b1
where
b B
b1
b2
b3
q1
q2
q
q3
q4
Shuster, M., "Survey of Attitude Representations," Journal of the Astronautical Sciences, Vol. 41, No. 4, Oct.-Dec. 1993. pp. 439-517.
QUATERNION REPRESENTATION
Given Euler Axis e and angle
q1
q1
q2
q q2 sin e, q4 cos , q
2
2
q3
q3
q4
q q4 1 (q must be constrained to unit length)
2
R(q , q4 ) q4 q
2
I 2 q q T 2q4 [[q ]]
q12 q2 2 q3 2 q4 2
R ( q ) 2 q1q2 q4 q3
2 q3 q1 q4 q2
2 q1q2 q4 q3
q1 q2 q3 q4
2
2 q3 q2 q4 q1
2 q1q3 q4 q2
2 q2 q3 q4 q1
2
2
2
2
q1 q2 q3 q4
1
1 trR ,
2
1
1
1
q1
R
R
,
q
R
,
q
23 32 2
31 13 3
R12 R21
4q4
4q4
4q4
trR 4q4 1, q4
2
q3 C q2 C q1 B
A
q3 C q1 B q2 C
A
q4
q3
q
q2
q1
P. Axelrad, D. Lawrence ASEN3200 Spring 2006
q3
q2
q4
q1
q1
q4
q2
q3
q1
q2
q3
q4
Kinematics
Relationship between angular velocity and attitude representations
d R (t )
dt
R(t )[[ t ]]
q4 (t )
d q (t ) 1 q3 (t )
=
dt
2 q2 (t )
q1 (t )
q3 (t )
q4 (t )
q1 (t )
q2 (t )
q2 (t )
1 (t )
q1 (t )
2 (t )
q4 (t )
3 (t )
q3 (t )
sin( ~ , cos( ~ 1
The rotation DCM for a sequence of three small Euler angles is:
1
R I [[ ]] 3
2
3
1
2
1
1
v1 A , v1 B , v2 A , v2 B
v1 B T B v1 A
A
and
v2 B T B v2 A
A
Create a matrix equation from the three vector equations and use
this to solve for the attitude DCM
Construct
v1 A , v1 B , v2 A , v2 B
v1 A v2 A
r1 v1 A , r2
, r3 r1 r2
v1 A v2 A
v1 B v2 B
s1 v1 B , s2
, s3 s1 s2
v1 B v2 B
M R r1 r2 r3 M s s1 s2 s3
T B M s M RT
A