Attitude and Kinematics of Coordinate Frames
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.
KeywordsAngular Velocity Coordinate Frame Rotation Matrix Euler Angle Composition Rule
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