quaternions - Rotations using Quaternions 1 Rotation...

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Unformatted text preview: Rotations using Quaternions 1 Rotation matrices FRB = front-right-below = platform or body fixed coordinates NED = north-east-down = local level coordinates ENU = east-north-up = an alternate definition of local level coordinates C FRB NED = 1 c φ s φ- s φ c φ c θ- s θ 1 s θ c θ c ψ s ψ- s ψ c ψ 1 = c θ c ψ c θ s ψ- s θ- c φ s ψ + s φ s θ c ψ c φ c ψ + s φ s θ s ψ s φ c θ s φ s ψ + c φ s θ c ψ- s φ c ψ + c φ s θ s ψ c φ c θ C NED FRB = c ψ- s ψ s ψ c ψ 1 c θ s θ 1- s θ c θ 1 c φ- s φ s φ c φ = c θ c ψ- c φ s ψ + s φ s θ c ψ s φ s ψ + c φ sθ c ψ c θ s ψ c φ c ψ + s φ s θ s ψ- s φ c ψ + c φ s θ s ψ- s θ s φ c θ c φ c θ C NED ENU = C ENU NED = 1 1- 1 2 Quaternions A quaternion can be thought of as a four element vector or as a sum: q = q 1 q 2 q 3 q 4 = q 1 ˆ ı + q 2 ˆ + q 3 ˆ k + q 4 where ˆ ı , and ˆ k...
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This note was uploaded on 01/15/2012 for the course EEL 6935 taught by Professor Staff during the Fall '08 term at University of Florida.

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quaternions - Rotations using Quaternions 1 Rotation...

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