Attitude and Kinematics of Coordinate Frames

Part of the Modeling and Simulation in Science, Engineering and Technology book series (MSSET)


  • To present the kinematic modeling useful in all flight dynamic derivations and analyses.

  • To offer a rigorous vector analysis of rotational kinematics.

  • To derive the basic identities of coordinate transformations in a manner that can be easily utilized for both translational and rotational equations of motion in subsequent chapters.

  • To introduce several alternative kinematic representations (Euler angles, Euler axis/principal angle, rotation matrix, quaternion, Rodrigues and modified Rodrigues parameters) and their evolution in time.


Angular Velocity Coordinate Frame Rotation Matrix Euler Angle Composition Rule 
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Copyright information

© Birkhäuser Boston 2007

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