MAE142_Lecture7 - Attitude and Euler Angles Body-Axis...

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Attitude and Euler Angles Body-Axis Attitude General Rotations Euler Angles MAE 142 High Alpha Research Vehicle (HARV) (NASA Image) x B z B Y B
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2 MAE 142 Vehicle Attitude The angular orientation of the body-fixed frame relative to the local NED frame specifies the vehicle's attitude . x B x B x B y B y B y B z B z B z B
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3 MAE 142 Position of a Point on the Vehicle What is the position of point m in ECEF coordinates? r m E =  r o E  r E   r b E r E = T L2E r L X Y Z N E r b r o r r m x B z B y B r b E = T L2E r b L r b L = T B2L r b B r m E =  r o E T L2E r L T B2L r b B Body-to-Local Transformation Matrix
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4 MAE 142 General Transformation Complex transformation matrices are built more easily by combining simple rotations. Positive rotation about X-axis or 1-axis: Y' X Y Z [ X ' Y ' Z ' ] = [ 1 0 0 0 cos sin 0 sin cos ] [ X Y Z ] Z Y Z' Y ' = Y cos  Z sin X ' = X Z ' =− Y sin  Z cos
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5 MAE 142 More Simple Rotations
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