Axes Systems, Orientation and Motion Notation

Department of Aerospace Sciences
Air Vehicle Modelling and Simulation
Axes Systems, Orientation and Motion Notation

Learning Outcomes
By the end of this session the student should be able to:
Describe the inertial and body axes systems.
Define Euler angles and describe their use in axis transformations.
Distinguish when to use alternative methods for defining vehicle orientation.
Describe the quaternion method of axis transformation.
Describe the standard motion variables and control surface notation.
Introduction
Air-vehicle motion can be conveniently described by a number of variables that are related to a
suitably chosen system of axes. In the United Kingdom the generally adopted scheme of notation,
axes systems and transformation matrices are defined in a series of datasheets produced by the
Engineering Science Data Unit (ESDU 67001, (alias?), ESDU 67003 and ESDU 98024). The system
is based on the notation previously proposed by Hopkins [1966]. The process of model building
can be made orderly and consistent by making the appropriate choice of axis system and utilising
standard motion and control variable notation. For aerial navigation the vehicles motion relative
to the earth is estimated from measurements taken on-board. For flight simulation purposes, both
the motion of the vehicle relative to the earth, and its orientation in space are required in order
to provide the appropriate visual display of the vehicles response. Sensors in the air-vehicle, such
as accelerometers and rate gyros, measure the motion characteristics relative to axes fixed within
the airframe. In general, three accelerometers aligned along each axis measure the components of
absolute linear time-varying acceleration, including the Coriolis acceleration and gravity generated
by the changing vehicle orientation in space. Three rate gyros measure components of vehicle angular
velocities about each of these fixed axes. To estimate vehicle motion in relation to the earth requires
conversion of this on-board information using either Euler angles or quaternions. Initially the Euler
angle method of axis and motion parameter conversion is addressed before outlining the quaternion
method. The quaternion method is defined in terms of four parameters that can be shown to be
equivalent to an alternative set of Euler angle transformations. Expressions are developed for the
body angular velocities in terms of quaternion parameters and then in terms of the rates of change
of the quaternion parameters themselves.
2
2.1
Axes Systems
Earth Centred
For the purposes of normal atmospheric flight, air-vehicle motion can be measured with reference to
an earth fixed framework. The accepted convention for defining earth axes, and reproduced here from
ESDU 98024 and Cook [2007], determines that a reference point O0 on the surface of the earth is the
origin of a right-handed orthogonal system of axes (Ox0 , Oy0 , Oz0 ), where Ox0 points to the north,
Oy0 points to the east and Oy0 points vertically down along the gravity vector toward the centre of
the earth, see Figure 1. The plane (O0 , x0 , y0 ) defines the local horizontal plane which is tangential
to the surface of the earth. Therefore, the flight path of an aircraft flying in the atmosphere in the
vicinity of the reference point O0 may be completely described by its co-ordinates in the axis system
assuming a flat earth, where the vertical is aligned with the gravity vector.
Axes Systems
January 13, 2011
Page 1
School of Engineering
Aerospace Dynamics MSc
Figure 1: Conventional earth axes
2.2
Body Fixed
It is usual practice to define a right-handed orthogonal body-fixed axis system (Ox, Oy Oz) fixed in
a rigid air-vehicle. For simple simulations it is convenient to make the origin, O, coincident with the
centre of gravity (cg). It is also normal convention to use the subscript b to identify that the axis
system is body fixed. The fore/aft, xb , and vertical, zb , plane typically defines the plane of symmetry
of the aircraft, with the x-axis directed toward the nose, the y-axis pointing to starboard (to the
right) and the z-axis directed downwards, see Figure 2.
Another system that is in common use is the stability or wind axis system, conventionally identified by subscript w. It is another right-handed axis system however the Oxw axis is aligned with
the aircrafts total velocity vector and as such it is the conventional axis system for measuring wind
tunnel data which, longitudinally is specified in terms of lift and drag (forces perpendicular and
parallel to the air stream respectively). The wind axes orientation in the airframe changes with
aircraft incidence and so is usually different for each flight condition. However, for any given flight
condition the wind axes orientation is defined and can be fixed in the aircraft at trim. It will then
be constrained to move with it during any subsequent disturbance.
3
3.1
Aircraft Orientation
Euler (Attitude) Angles
The position of an air-vehicle in space may be specified by the aircrafts attitude and by the location
of a fixed point, typically the body axes centre, relative to the earth. The attitude of an aircraft is
defined as the angular orientation of the body axes (Oxb , Oyb Ozb ) with respect to the moving earth
axes (Ox0 , Oy0 , Oz0 ). The angles defined by the right-handed rotation about the three axes of a
right-handed system of axes are called the Euler angles and are defined as yaw angle, , pitch angle,
Page 2
Axes Systems
January 13, 2011
Figure 2: Body-fixed axes

, and bank angle, (ESDU 67003), see Figure 3. It can help in an appreciation of these angles
to consider a sequence of plane rotations from the axes (Ox0 , Oy0 , Oz0 ), through two intermediate
axes, (Ox1 , Oy1 , Oz1 ), and (Ox2 , Oy2 , Oz2 ), to the final axes (Oxb , Oyb , Ozb ) defined as follows.
With reference to Figure 4, starting with the (Ox0 , Oy0 , Oz0 ) axis system:
1. Rotate about the vertical axis Oz0 through a yaw angle, , to (Ox1 , Oy1 , Oz1 );
2. Rotate about horizontal axis Oy1 through a pitch angle, , to (Ox2 , Oy2 , Oz2 );
3. Rotate about axis Ox2 through a roll angle, , to (Oxb , Oyb , Ozb ).
It is important that this specific sequence of rotations (, , ) is followed if the correct transformation
is to be achieved.
3.2
Axes Transformations and the Direction Cosine Matrix
An important element within aircraft simulation is the transformation of both linear and angular
motion variables and related parameters, such as accelerations, velocities and displacements, from
one system of axes to another.
3.2.1
Linear Motion Transformation
Angular relationships that are used to describe aircraft attitude may be generalised to describe the
angular orientation of one set of axes with respect to another. A convenient way to express this is in
terms of direction cosines. Referring again to Figure 4 and treating each rotation separately:
Rotate about the vertical axis Oz0 through a yaw angle, , to (Ox1 , Oy1 , Oz1 ):
Ox1
cos sin 0
Ox0
Ox0
Oy1 = sin cos 0 Oy0 = T Oy0
(3.1)
Oz1
0
0
1
Oz0
Oz0
Axes Systems
January 13, 2011
Page 3
Figure 3: Definition of Euler angles
Figure 4: Axes transformations

Page 4
Axes Systems
January 13, 2011

Rotate about horizontal axis Oy1 through a pitch angle, , to (Ox2 , Oy2 , Oz2 ):
Ox2
cos 0 sin
Ox1
Ox1
Oy2 = 0
Oy1 = T Oy1
1
0
Oz2
sin 0 cos
Oz1
Oz1
(3.2)
Rotate about axis Ox2 through a roll angle, , to (Oxb , Oyb , Ozb ):
Oxb
1
0
0
Ox2
Ox2
Oyb = 0 cos sin Oy2 = T Oy2
Ozb
0 sin cos
Oz2
Oz2
(3.3)
By repeated substitution, Equations 3.1, 3.2 and 3.3 may be combined to give the required transformation matrix, T containing nine direction cosines, known as the Direction Cosine Matrix
(DCM):
cos cos
cos sin
sin
= cos sin + sin sin cos cos cos + sin sin sin sin cos
sin sin + cos sin cos sin cos + cos sin sin cos cos
The DCM is often written in the form:
c c
c s
s
T = c s + s s c c c + s s s s c
s s + c s c s c + c s s c c
(3.4)
As the transformation matrix is orthogonal and normal:

T
T T1
= T T = I
Since the subscript notation, , indicates transformation of a vector from one system to another
the reverse notation, , indicates the opposite. So:
T
T = T1
= T
Hence, the transformation of translational components such as velocity and force in earth axes,
x0 y0 z0 , to body axes, xb yb zb can be achieved by:

x
x0
x0
y = T y0 == T y0
(3.5)
z b
z0 e
z0 e
Likewise, the inverse relationship, giving earth axes components in terms of body axes components
is:

x0
x
y0 = TT y
(3.6)
z0 e
z b
3.2.2
Angular Motion Transformation
Euler angles are also used to transform angular motion variables between axes systems. Figure 5
,
.
shows the relationship between the angular body axis rates, p, q, r and the Euler rates, ,
Hence, the angular velocities of the air-vehicle in terms of the rates of change of yaw, pitch and roll
Axes Systems
January 13, 2011
Page 5
Figure 5: Definition of Euler rates
angles are:
= rate of change of yaw about Oz0
= rate of change of pitch about Oy1
= rate of change of roll about Ox2 rate of change of roll about Oxb
The rate of change of bank angle is already related to the vehicles body-axis roll rate, p, defined
in the axis system (Oxb , Oyb , Ozb ) and so no conversion is necessary. Both the pitch and yaw rates
require conversion from axis systems (Ox1 , Oy1 , Oz1 ) to (Oxb , Oyb , Ozb ) and from (Ox0 , Oy0 , Oz0 )
to (Oxb , Oyb , Ozb ) respectively. Thus in terms of the transformation matrices T and T :

p
q =
r
0 + T
0
0
+ T T
0
0
0
Substituting Equations 3.2 and 3.3 for the transformation matrices gives:
p
1
0
1
0
0
sin
q = 0 + cos + 0 cos sin

0
r
0
sin
0 sin cos
cos
Hence:

p
1
0
sin
q = 0 cos sin cos = LBE
r
0 sin cos cos
Page 6
Axes Systems
January 13, 2011

Euler attitude rates in terms of the body rates required for the equations of motion can be obtained
by inverting the above transformation matrix, see Appendix A: Therefore:

1 sin tan cos tan

p
p
E
= 0
cos
sin
q = LB q
(3.7)
0 sin sec cos sec
r
r
Note that = p only when = 0 and = q only when = 0 . Analysis of Equation 3.7 shows clearly
that as 90 both tan and sec causing a singularity. This can cause problems
when simulating high agility vehicles as the expressions for and become indeterminate. Hence,
for air-vehicles which perform post-stall manoeuvring and aerobatics, an alternative formulation is
required so that the derivation of the aircraft attitude angles is robust.
3.3
Quaternions
A practical alternative for defining the orientation of an aircraft, which avoids the mathematical
singularity, is to use four parameters or quaternions (ESDU 98024). A quaternion, denoted by e,
is composed of four parts and defined by:
e = e0 + e1 + e2 + e3
where , and are operators such that:
= 1 = =
= 1 = =
= 1 = =
the quaternion has a conjugate, e , and magnitude, or norm ||e||, given by:
e = e0 e1 e2 e3
||e|| = ee = e e = e20 + e21 + e22 + e23
Now a quaternion with a length of unity can be used to describe a co-ordinate transformation. Thus
if ||e|| = 1 and Q = X + Y + Z then the operation e Qe represents a coordinate transformation
from one axes system to another. So:
Q = e Qe
Q = (e0 e1 e2 e3 ) ((X + Y + Z) (e0 + e1 + e2 + e3 )
which leads to, see Appendix B.1:

2
x0
2(e1 e2 + e0 e3 )
2(e1 e3 e0 e2 )
x
(e0 + e21 e22 e23 )
2
2
2
2
y = 2(e1 e2 e0 e3 )
y0
2(e2 e3 + e0 e1 )
(e0 e1 + e2 e3 )
2
2
2
2
2(e1 e3 + e0 e2 )
2(e2 e3 e0 e1 )
(e0 e1 e2 + e3 )
z0 e
z b
(3.8)
given that:
e20 + e21 + e22 + e23 = 1
(3.9)
As there are four parameters describing the orientation when only three are strictly necessary; Equation 3.9 becomes a constraint equation. Also from Appendix B.2 we can write:
e0 = cos cos cos + sin sin sin

(3.10)
2
2
2
2
2
2
e1 = sin cos cos cos sin sin

(3.11)
2
2
2
2
2
2
e2 = cos sin cos + sin cos sin

(3.12)
2
2
2
2
2
2
e3 = cos cos sin sin sin cos

(3.13)
2
2
2
2
2
2
These expressions are necessary to derive initial values for the quaternion parameters when the Euler
angles, , , are known. This usually occurs at initialisation when the simulation starts from a
known trim condition.
Axes Systems
January 13, 2011
Page 7

3.3.1
Quaternion Differential Equations
We have seen that the four quaternion parameters can be initialised from the Euler angles and then
used to compute the nine elements of the DCM. The linear differential equations that allow the
quaternions to be propagated forward in time can be determined using Equations 3.7 and 3.8, see
Appendix B.3:

e 0
0
p
q
r
e0
e 1
p 0 r q e1
1
=

(3.14)
e 2
0 p e2
2 q r
e 3
r q p
0
e3
Which provide the means to generate e0 , e1 , e2 , e3 from the body axis components of angular velocity
p, q, and r and therefore can be used in place of Euler equations derived previously. The body angular
rates about all three axes may be provided by the air-vehicles rate gyros.
3.3.2
Quaternion Error Correction
It may be necessary to correct the tendency for the quaternion integration process to drift due to
computing rounding errors. To achieve this an error term, , can introduced in place of the zero
diagonal elements in the matrix of Equation 3.14:

0 p q r
e0
p q r
e0
e0
e 0
e 1 1 p 0
1
r q e1
e1 = p r q e1
=
+
e 2 2 q r 0
p
e2
e2
2 e2
2 q r p
e3
r q p 0
r
q p
e3
e3
e 3
where is the error in the quaternion parameters obtained from the constraint equation:

= 1 e20 + e21 + e22 + e23
The constant is chosen, according to ESDU 98024, on the basis of the type of manoeuvres to be
executed and such that h 1.0 for integration step
psize h. It can be shown that the correction loop
will not interfere with the original equation if p2 + q 2 + r 2 . Now the rate of change of error is
given by differentiating the modified constraint equation:
= 2 (e0 e 0 + e1 e 1 + e2 e 2 + e3 e 3 )
or, from Equation 3.14:

= 2 e0 e1 e2

e 0
0
p
q
r
e0
e 1
p 0 r q e1

e3
e 2 = e0 e1 e2 e3 q r
0 p e2
e 3
r q p
0
e3
It can be shown from Appendix B.4 that the constraint equation satisfies the original differential
equations and thus if e0 , e1 , e2 and e3 are obtained without error then any deviation in satisfying
the constraint equation will remain unchanged as the simulation progresses. Therefore if, assuming
appropriate initialisation, any deviation in satisfying the constraint equation occurs following integrating of the quaternion rates it must be due to solely to errors in the integration process; this
means that both truncation and rounding errors are responsible.
In non real-time, or off-line, simulation the states are usually accumulated in double precision
and high order integration algorithms are used with large time steps. Consequently most errors
are truncation and not rounding errors. In real-time simulation, simple integration rules such as
trapezoidal are used but the time steps are made very small in a attempt to reduce the phase shifts
between simulation and the real world environment. In that case rounding errors may predominate.
In either case if the errors are significant then some form of correction will be required.
Page 8
Axes Systems
January 13, 2011

3.3.3
Derivation of the Euler Angles
For flight simulation the Euler angles will be required to define the aircrafts attitude within the
outside world view and for display on the pilots instrumentation. Using a suitable choice from
Equations 3.4 and 3.8 enables the Euler angles to be derived as follows, see Equation B.7:
sin = 2 (e0 e2 e1 e3 )
thus for pitch attitude:
= sin1 (2e0 e2 2e1 e3 )
(3.15)
By definition, as is the elevation angle of the aircrafts x-axis above, or below, the horizontal plane
and therefore lies in the range 90 (/2), the inverse process will provide a unique value for .
From Equation B.8:
cos cos = e20 + e21 e22 e23
or:
e20 + e21 e22 e23
cos
cos =
as can vary between -180 and +180 we must ensure the correct sign is obtained during the
simulation. From the constraint on we know that cos will always be positive and so thus the sign
of sin can be obtained from:
cos sin = 2 (e1 e2 + e0 e3 )
that is:
sgn[sin ] = sgn(e1 e2 + e0 e3 )
which leads to:
= cos
e20 + e21 e22 e23

cos
sgn(e1 e2 + e0 e3 )
(3.16)
Likewise from Equation B.10 and noting that can vary between -180 and +180 :
cos cos = e20 e21 e22 + e23
and:
cos sin = 2 (e2 e3 + e0 e1 )
thus:
= cos
e20 e21 e22 + e23

cos
sgn(e2 e3 + e0 e1 )
(3.17)
If the simulation is going to maintain flight close to = 90 then some alternative relationship will
be required. As:
cos cos = e20 e21 e22 + e23
and
cos sin = 2 (e2 e3 + e0 e1 )
then:
tan =
Axes Systems
January 13, 2011
2 (e2 e3 + e0 e1 )
e20 e21 e22 + e23
Page 9

likewise:
cos cos = e20 + e21 e22 e23
and
cos sin = 2 (e1 e2 + e0 e3 )
and:
tan =
2 (e1 e2 + e0 e3 )
+ e21 e22 e23
e20
so now and are no longer functions of 1/cos. Robust methods exist to calculate the arctangent
as it is often necessary to smoothly cover the interval . MATLAB provides the function
atan2(y,x) for this eventuality, thus:
= atan2 2 (e2 e3 + e0 e1 ) , e20 e21 e22 + e23
and
= atan2 2 (e1 e2 + e0 e3 ) , e20 + e21 e22 e23
3.4
Summary
In the Euler method, the orientation of an axis system fixed in the air-vehicle relative to another
fixed in the earth can be defined from three separate rotations about each of three axes, where the
rotations are completed in strict order. The rotational angles are the Euler angles of yaw, pitch and
roll, they have a direct physical interpretation and are suitable for all vehicle motions involving pitch
changes of less than 90. However, when the pitch angle approaches 90, both and approach
infinity, so computational difficulties arise. The quaternion is a four-parameter system that may be
physically interpreted as a rotation through some angle about a specific fixed axis system, each axis
of which lies at an angle to a fixed orthogonal (x,y,z) axis system. The quaternion is consequently
hard to visualise but its advantages can outweigh the remoteness of physical interpretation.
Hence, the Euler technique is simple and widely used in flight simulation. However, its weakness
is the singularity at the zenith and the nadir. The quaternion technique is more complex and less
familiar but is robust and will cope with all kinds of manoeuvres. The constraint equation in many
cases does not need to be imposed, only checked to see that it is being satisfied to reasonable accuracy,
that is it approximates to 1.0. The solution sequence of events for each case is shown in Figures 6
and 7.
phi
theta
dcm
dcmeb
psi
phi
phidot
1
s
thetadot
1
s
psidot
1
s
theta
r
kine
q
p
phi,theta,psi
Figure 6: Euler Angle Solution Scheme

Page 10
Axes Systems
January 13, 2011
e0
e0dot
1
s
e0
e1dot
1
s
e1
e2dot
1
s
e2
e3dot
1
s
e3
e1
p
q
r
phi
dcm
q_kine
e2
dcmeb
dcmeb
euler
theta
psi
e3
Figure 7: Quaternion Solution Scheme
Motion Variables
The motion of the aircraft is described in terms of force, moment, linear and angular velocities and
attitudes resolved into components with respect to the chosen aircraft fixed axis system, see Figures 3
and 8. In steady, non-accelerating, flight the aircraft is in equilibrium and the forces and moments
acting on the airframe are in balance and sum to zero. The initial condition is usually referred to
as trimmed equilibrium. Whenever the aircraft is disturbed from equilibrium, the force and moment
balance is upset and the resulting transient motion is quantified in terms of the perturbation variables,
shown in Figure 8.
U, X
y
V, Y
L, P
M, Q
body axes centre
N, R
z
W, Z
Figure 8: Body Axes System - Motion Variable Notation

The positive sense of the variables is determined by the choice of a right-handed axis system and
has been summarised for the normal convention in Table 1 A typical aircraft with conventional
aerodynamic control surfaces is shown in Figure 9. Such aircraft also usually have a fourth control,
Axes Systems
January 13, 2011
Page 11

symbol
X
Y
Z
L
M
N
U
V
W
P
Q
R
description
sign convention
force along x-axis

force along y-axis (side force)
force along z-axis
moment about x-axis (rolling moment)
moment about y-axis (pitching moment)
moment about z-axis (yawing moment)
motion along x-axis (surge - forward velocity)
motion along y-axis (sway - lateral velocity)
motion along z-axis (heave - vertical velocity)
rotation about x-axis (roll rate)
rotation about y-axis (pitch rate)
rotation about z-axis (yaw rate)
forward
to the right (starboard)
down
right wing down
nose up
nose to the right
forward
to the right (starboard)
down
right wing down
nose up
nose to the right
Table 1: Body Axes System - Motion Variable Sign Convention
namely thrust controlled manually through the engine throttle usually defined using .
Starboard
Aileron
Elevator
Rudder
Elevator
positive control
angles shown
Port
Aileron
Figure 9: Conventional Control Deflections (taken from Cook [2007])

Interpretation of Figure 9 shows that a positive elevator deflection, , will result in a negative pitch
motion, a positive mean aileron deflection, , will result in a negative roll motion and a positive
rudder deflection, , in a negative yaw motion. The aileron and rudder flight control surfaces will
also generate secondary motion (moments) in addition to their principal effects on the aircraft motion.
References
ESDU 67001. Introduction to notation for aircraft dynamics. ESDU International. With Amendment
A, April 2003.
ESDU 67002. Notation for aircraft dynamics. ESDU International. With Amendment A, April 2003.
ESDU 67003. The equations of motion of a rigid aircraft. ESDU International. With Amendment
A, April 2003.
Page 12
Axes Systems
January 13, 2011

ESDU 98024. Quaternion representation of aeroplane attitude and motion characteristics. ESDU
International. With Amendment A, November 2002.
M. Cook. Flight Dynamics Principles. Elsevier Aerospace Engineering. Butterworth-Heinemann,
2nd edition, 2007.
M. E. Dreier. Introduction to Helicopter and Tiltrotor Flight Simulation. AIAA Education Series,
2007.
H. R. Hopkins. A scheme of notation and nomenclature for aircraft dynamics and associated aerodynamics. Technical Report TR 66200, Royal Aircraft Establishment, June 1966.
J. M. Rolfe and K. J. Staples. Flight Simulation. Cambridge University Press, 1986.
B. L. Stevens and F. L. Lewis. Aircraft Control and Simulation. John Wiley & Sons, 1992.
P. H. Zipfel. Modelling and Simulation of Aerospace Vehicle Dynamics. AIAA Education Series, 2nd
edition, 2007.
Axes Systems
January 13, 2011
Page 13

A
Conversion of Euler attitude rates to body rates
Now:

p
1
0
sin
q = 0 cos sin cos
r
0 sin cos cos
So:

1
1
0
sin
p
= 0 cos sin cos q
0 sin cos cos
r
But

1
0
sin

0 cos sin cos

0 sin cos cos

= cos2 cos + sin2 cos = cos

Also the matrix of co-factors is:
cos2 cos + sin2 cos

0
0
sin sin
cos cos sin
cos sin
sin cos cos
Thus the adjoint is given by:
cos2 cos + sin2 cos

0
0
cos sin sin
cos sin
sin sin
cos cos sin = 0
cos cos sin cos
cos sin
sin cos cos
0
sin
cos
Hence:
1
cos sin sin
cos sin
1
0
sin
0 cos sin cos = 1 0
cos cos sin cos
cos
0
sin
cos
0 sin cos cos
1
1
0
sin
1 sin tan cos tan
0 cos sin cos = 0
cos
sin
0 sin cos cos
0 sin sec cos sec
Therefore:

1 sin tan cos tan

p
= 0
cos
sin
q
0 sin sec cos sec

r
Page 14
Axes Systems
January 13, 2011

B
B.1
Transformations using quaternions

Obtaining the equivalent direction cosine matrix
Now:
Q = (e0 e1 e2 e3 ) (X + Y + Z) (e0 + e1 + e2 + e3 )
Thus:
Q = (e0 e1 e2 e3 ) [Xe0 + Xe1 + Xe2 + Xe3 + . . .
Y e0 + Y e1 + Y e2 + Y e3 + Ze0 + Ze1 + Ze2 + Ze3 ]
Q = (e0 e1 e2 e3 ) [Xe0 Xe1 + Xe2 Xe3 + . . .
Y e0 Y e1 Y e2 + Y e3 + Ze0 + Ze1 Ze2 Ze3 ]
Q = Xe20 Xe0 e1 + Xe0 e2 Xe0 e3 + Y e20 Y e0 e1 Y e0 e2 + Y e0 e3 + . . .
Ze20 + Ze0 e1 Ze0 e2 Ze0 e3 [Xe0 e1 Xe21 + Xe1 e2 Xe1 e3 + . . .
Y e0 e1 Y e21 Y e1 e2 + Y e1 e3 + Ze0 e1 + Ze21 Ze1 e2 . . .
Ze1 e3 ] [Xe0 e2 Xe1 e2 + Xe22 Xe2 e3 + Y e0 e2 Y e1 e2 . . .
Y e22 + Y e2 e3 + Ze0 e2 + Ze1 e2 Ze22 Ze2 e3 ] [Xe0 e3 . . .
Xe1 e3 + Xe2 e3 Xe23 + Y e0 e3 Y e1 e3 Y e2 e3 + Y e23 + . . .
Ze0 e3 + Ze1 e3 Ze2 e3 Ze23 ]
Ze20 + Ze0 e1 Ze0 e2 Ze0 e3 [Xe0 e1 Xe21 Xe1 e2 Xe1 e3 + . . .
Y e0 e1 + Y e21 Y e1 e2 Y e1 e3 Ze0 e1 + Ze21 + Ze1 e2 Ze1 e3 ] . . .
[Xe0 e2 Xe1 e2 + Xe22 + Xe2 e3 Y e0 e2 Y e1 e2 Y e22 Y e2 e3 + . . .
Ze0 e2 Ze1 e2 + Ze22 Ze2 e3 ] [Xe0 e3 Xe1 e3 Xe2 e3 + Xe23 . . .
Y e0 e3 + Y e1 e3 Y e2 e3 + Y e23 Ze0 e3 Ze1 e3 Ze2 e3 Ze23 ]
Ze20 + Ze0 e1 Ze0 e2 Ze0 e3 + Xe0 e1 + Xe21 + Xe1 e2 + Xe1 e3 . . .
Y e0 e1 Y e21 + Y e1 e2 + Y e1 e3 + Ze0 e1 Ze21 Ze1 e2 + Ze1 e3 + . . .
Xe0 e2 + Xe1 e2 Xe22 Xe2 e3 + Y e0 e2 + Y e1 e2 + Y e22 + Y e2 e3 . . .
Ze0 e2 + Ze1 e2 Ze22 + Ze2 e3 Xe0 e3 + Xe1 e3 + Xe2 e3 Xe23 + . . .
Y e0 e3 Y e1 e3 + Y e2 e3 Y e23 + Ze0 e3 + Ze1 e3 + Ze2 e3 + Ze23
which simplifies to:
Q = Xe20 + Xe0 e2 Xe0 e3 + Y e20 Y e0 e1 + Y e0 e3 + Ze20 + Ze0 e1 . . .
Ze0 e2 + Xe21 + Xe1 e2 + Xe1 e3 Y e0 e1 Y e21 + Y e1 e2 + Ze0 e1 . . .
Ze21 + Ze1 e3 + Xe0 e2 + Xe1 e2 Xe22 + Y e1 e2 + Y e22 + Y e2 e3 . . .
Ze0 e2 Ze22 + Ze2 e3 Xe0 e3 + Xe1 e3 Xe23 + Y e0 e3 + Y e2 e3 . . .
Y e23 + Ze1 e3 + Ze2 e3 + Ze23
Axes Systems
January 13, 2011
Page 15

or:
Q = [X(e20 + e21 e22 e23 ) + 2Y (e0 e3 + e1 e2 ) + 2Z(e1 e3 e0 e2 )] + . . .
[2X(e1 e2 e0 e3 ) + Y (e20 e21 + e22 e23 ) + 2Z(e0 e1 + e2 e3 )] + . . .
[2X(e0 e2 + e1 e3 ) + 2Y (e2 e3 e0 e1 ) + Z(e20 e21 e22 + e23 )]
that is:
2

2(e1 e2 + e0 e3 )
2(e1 e3 e0 e2 )
(e0 + e21 e22 e23 )
X
X
Y = 2(e1 e2 e0 e3 )
(e20 e21 + e22 e23 )
2(e2 e3 + e0 e1 ) Y
Z
2(e1 e3 + e0 e2 )
2(e2 e3 e0 e1 )
(e20 e21 e22 + e23 )
Z
or:
2

x
e0 + e21 e22 e23
2(e1 e2 + e0 e3 )
2(e1 e3 e0 e2 )
x0
y = 2(e1 e2 e0 e3 ) e20 e21 + e22 e23
2(e2 e3 + e0 e1 ) y0
z
2(e1 e3 + e0 e2 )
2(e2 e3 e0 e1 ) e20 e21 e22 + e23
z0
B.2
Relationships between quaternions and Euler angles
Now:

2
x0
x
2(e1 e2 + e0 e3 )
2(e1 e3 e0 e2 )
e0 + e21 e22 e23
y = 2(e1 e2 e0 e3 ) e20 e21 + e22 e23

2(e2 e3 + e0 e1 ) y0
2
z0
z
2(e1 e3 + e0 e2 )
2(e2 e3 e0 e1 ) e0 e21 e22 + e23
(B.1)

x
c c
c s
s
x0
y = c s + s s c c c + s s s s c y0
z
s s + c s c s c + c s s c c
z0
(B.2)
but
Adding the leading diagonal leads to:

e20 + e21 e22 e23 + e20 e21 + e22 e23 + e20 e21 e22 + e23 = c c + c c + s s s + c c
which gives
3e20 e21 e22 e23 = c c + c c + s s s + c c

Now applying constraint equation:
4e20 = 1 + c c + c c + c c + s s s
Or:
4e20 = 1 + cos cos + cos cos + cos cos

2 sin cos
2 sin cos
+ 2 sin cos
2
2
2
2
2
2
Now:
(1 + cos )(1 + cos )(1 + cos ) = (1 + cos )(1 + cos + cos + cos cos )
(1 + cos )(1 + cos )(1 + cos ) = 1 + cos + cos + cos + cos cos +
cos cos + cos cos + cos cos cos
Page 16
Axes Systems
January 13, 2011

And:
(1 cos )(1 cos )(1 cos ) = (1 cos )(1 cos cos + cos cos )
(1 cos )(1 cos )(1 cos ) = 1 cos cos cos + cos cos +
cos cos + cos cos cos cos cos
So:
(1 + cos )(1 + cos )(1 + cos ) + (1 cos )(1 cos )(1 cos ) =
2(1 + cos cos + cos cos + cos cos )
Therefore:
4e20 =
1
[(1 + cos )(1 + cos )(1 + cos ) + (1 cos )(1 cos )(1 cos )]
2

2 sin cos
2 sin cos
+ 2 sin cos
2
2
2
2
2
2
But:
1
[(1 + cos )(1 + cos )(1 + cos ) + (1 cos )(1 cos )(1 cos )] =
2

1
2
2
2
2
2
2
) + (2 sin )(2 sin )(2 sin
)
(2 cos )(2 cos )(2 cos
2
2
2
2
2
2
2
Thus:
e20 = cos2 cos2 cos2 + sin2 sin2 sin2 + 2 sin cos sin cos sin cos
2
2
2
2
2
2
2
2
2
2
2
2

2
e20 =
cos cos cos + sin sin sin
2
2
2
2
2
2
And:
e0 = cos
cos cos + sin sin sin

2
2
2
2
2
2
(B.3)
Also subtracting the top right element from the bottom left element:
2(e1 e3 + e0 e2 ) 2(e1 e3 e0 e2 ) = s s + c s c + s
4e0 e2 = sin (1 + cos cos ) + sin sin
Noting that cos2 + sin2 = 1, then:

2
2
2
2
4e0 e2 = 2 sin cos
sin
sin
1 + cos
cos
2
2
2
2
2
2

2
2
+ 4 cos
+ sin
sin cos sin cos
2
2
2
2
2
2
Now:

sin2
1 + cos
2
2
Axes Systems
January 13, 2011

sin2
cos
2
2
2
= 1 + cos2
cos2 cos2 sin2

2
2
2
2
sin2 cos2 + sin2 sin2

2
2
2
2
Page 17

Or:

1 + cos
sin2
2
2
2

sin2
cos
2
2

sin2
cos
2
2

2
2
2
cos
cos
= 1 + cos
1 cos
2
2
2
2

sin2
1 sin2
+ sin2 sin2
2
2
2
2
2
Thus:

1 + cos
sin2
2
2
2
= 2 cos2
cos2 + 2 sin2 sin2

2
2
2
2
And therefore:
e0 e2 = sin cos
2
2
cos2 + sin2 sin2

cos
2
2
2
2
2

+ sin2
+ cos
2
2
2
sin
cos sin cos

2
2
2
2
So:
e0 e2 = cos
cos cos sin cos cos + sin sin sin cos sin sin
2
2
2
2
2
2
2
2
2
2
2
2
+ cos cos cos sin sin cos + sin sin sin cos cos sin
2
2
2
2
2
2
2
2
2
2
2
2
Or:
e0 e2 = cos cos cos

2
2
2
cos sin cos + sin cos sin

2
2
2
2
2
2

+ sin sin sin

sin cos sin + cos sin cos
2
2
2
2
2
2
2
2
2
Thus:
e0 e2 =
cos cos cos + sin sin sin

2
2
2
2
2
2


2
2
2
2
2
2
Therefore:
e2 = cos
sin cos + sin cos sin

2
2
2
2
2
2
(B.4)
Now adding the bottom centre element and the middle right element gives:
2(e2 e3 e0 e1 ) + 2(e2 e3 + e0 e1 ) = s c s c + c s s
4e2 e3 = sin (cos cos ) + cos sin sin
So:
4e2 e3 = 2 sin cos

2
2
Page 18
2
2
2
sin
cos
+ sin
cos
2
2
2
2

2
2
sin
+ 4 cos
sin cos sin cos
2
2
2
2
2
2
2
Axes Systems
January 13, 2011

Or:
4e2 e3 = 2 sin cos

2
2
2
2
2
sin
1 + sin
+ sin
1 sin
2
2
2
2

+ 4 cos2 sin2
sin cos sin cos
2
2
2
2
2
2
2
Thus:
e2 e3 = sin cos
2
2
sin2
sin
2
2
2
sin2
+ cos
2
2
2
sin
cos sin cos

2
2
2
2
And:
e2 e3 = sin
cos sin2 sin sin2 cos +

2
2
2
2
2
2
cos sin sin cos cos cos sin sin sin sin cos cos
2
2
2
2
2
2
2
2
2
2
2
2
Which gives, noting that cos2 + sin2 = 1:

2
2
2
2
2
2
+ sin
+ sin
cos
sin sin cos
cos
+
e2 e3 = sin cos sin
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
Or:
e2 e3 = sin
cos sin2 cos2 sin sin2 cos cos2 +

2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
Thus:
e2 e3 = cos sin cos

2
2
2
cos cos sin sin sin cos + +

2
2
2
2
2
2

cos cos sin sin sin cos

sin cos sin
2
2
2
2
2
2
2
2
2
Therefore:
e2 e3 =


cos cos sin sin sin cos
2
2
2
2
2
2
2
2
2
2
2
2
And:
cos sin sin sin cos

2
2
2
2
2
2
Finally, adding the top centre element and the middle left element gives:
e3 = cos
(B.5)
2(e1 e2 + e0 e3 ) + 2(e1 e2 e0 e3 ) = c s c s + s s c
4e1 e2 = sin (cos cos ) + sin sin cos
Thus:
4e1 e2 = 2 sin cos

2
2
Axes Systems
January 13, 2011
2
2
2
sin
cos
+ sin
cos
+
2
2
2
2

2
2
sin
4 sin cos sin cos
cos
2
2
2
2
2
2
2
Page 19

Or:
4e1 e2 = 2 sin cos

2
2
2
2
2
1 + cos
cos
+ 1 cos
cos
+
2
2
2
2

2
2
sin
cos
4 sin cos sin cos
2
2
2
2
2
2
2
So:
e1 e2 = sin
cos
2
2
cos2
cos2
2
2
+ sin
cos sin cos

2
2
2
2
cos2
sin2
2
2
As cos2 + sin2 = 1, then:

e1 e2 = sin
cos cos2
2
2
2
cos2
+ sin2
2
2
sin

cos cos2
cos2 + sin2
+
2
2
2
2
2

2
2
sin cos sin cos
sin
cos
2
2
2
2
2
2
Or:
e1 e2 = sin
cos cos2 sin2 sin cos cos2 sin2 +

2
2
2
2
2
2
2
2

2
2
sin cos sin cos
sin
cos
2
2
2
2
2
2
Therefore:
e1 e2 = sin cos sin

2
2
2
sin cos cos cos sin sin

+
2
2
2
2
2
2

sin cos cos cos sin sin

cos sin cos
2
2
2
2
2
2
2
2
2
And:
e1 e2 =
cos
sin cos + sin cos sin

2
2
2
2
2
2

sin
cos cos cos sin sin

2
2
2
2
2
2
Which gives:
e1 = sin
cos cos cos sin sin

2
2
2
2
2
2
(B.6)
Also:
sin = 2 (e0 e2 e1 e3 )
(B.7)
and:
cos cos = e20 + e21 e22 e23
cos sin = 2 (e1 e2 + e0 e3 )
(B.8)
so:
tan =
2 (e1 e2 + e0 e3 )
sin
= 2
cos
e0 + e21 e22 e23
(B.9)
Finally:
cos cos = e20 e21 e22 + e23
cos sin = 2 (e2 e3 + e0 e1 )
(B.10)
so:
tan =
Page 20
2 (e2 e3 + e0 e1 )
sin
= 2
cos
e0 e21 e22 + e23
(B.11)
Axes Systems
January 13, 2011

B.3
Development of the differential equations
Now:

p
1
0
sin
q = 0 cos sin cos
r
0 sin cos cos
but from equations B.8 and B.10:

sin = 2 (e0 e2 e1 e3 ) = 2A
sin cos = 2 (e1 e2 + e0 e3 ) = 2B
cos cos = e20 + e21 e22 e23 = C
sin cos = 2 (e2 e3 + e0 e1 ) = 2D
cos cos = e20 e21 e22 + e23 = E
also:
cos =
1 sin2 =
1 4A2 = F
Thus:

p
1
0
q = 0
E/F
r
0 2D/F
2A
2D
E
and:
cos = 2 (e 0 e2 + e0 e 2 e 1 e3 e1 e 3 )
thus
2
= (e 0 e2 + e0 e 2 e 1 e3 e1 e 3 )
F
or
T

2
=
e2 e3 e0 e1 e 0 e 1 e 2 e 3
F
Now from Equation B.11
tan =
2D
E
thus
2D E
2DE
sec2 =
E2
but:
D = e 2 e3 + e2 e 3 + e 0 e1 + e0 e 1
and
E = 2 (e 0 e0 e 1 e1 e 2 e2 + e 3 e3 )
so:
2E (e 2 e3 + e2 e 3 + e 0 e1 + e0 e 1 ) 4D (e 0 e0 e 1 e1 e 2 e2 + e 3 e3 )
=
2
cos
E2
as:
E 2 = cos2 cos2
Axes Systems
January 13, 2011
Page 21

then:
2E (e 2 e3 + e2 e 3 + e 0 e1 + e0 e 1 ) 4D (e 0 e0 e 1 e1 e 2 e2 + e 3 e3 )
=
F2
or:
2
[e 0 (Ee1 2De0 ) + e 1 (Ee0 + 2De1 ) + e 2 (Ee3 + 2De2 ) + e 3 (Ee2 2De3 )]
F2

T
2
=
(Ee1 2De0 ) (Ee0 + 2De1 ) (Ee3 + 2De2 ) (Ee2 2De3 ) e 0 e 1 e 2 e 3
2
F
Also from Equation B.9
=
tan =
2B
C
2B C
2BC
sec2 =
C2
thus
but:
B = e 1 e2 + e1 e 2 + e 0 e3 + e0 e 3
and
C = 2 (e 0 e0 + e 1 e1 e 2 e2 e 3 e3 )
so:
2C (e 1 e2 + e1 e 2 + e 0 e3 + e0 e 3 ) 4B (e 0 e0 + e 1 e1 e 2 e2 e 3 e3 )
=
2
cos
C2
as:
C 2 = cos2 cos2
=
=
Hence:
2
[e 0 (Ce3 2Be0 ) + e 1 (Ce2 2Be1 ) + e 2 (Ce1 + 2Be2 ) + e 3 (Ce0 + 2Be3 )]
F2
T

2
(Ce3 2Be0 ) (Ce2 2Be1 ) (Ce1 + 2Be2 ) (Ce0 + 2Be3 ) e 0 e 1 e 2 e 3
2
F
p
1
0
q = 2 0
E/F
F2
r
0 2D/F
e 0
2A
(Ee1 2De0 ) (Ee0 + 2De1 ) (Ee3 + 2De2 ) (Ee2 2De3 )
e 1
2D
F e2
F e3
F e0
F e1
e 2
E
(Ce3 2Be0 ) (Ce2 2Be1 ) (Ce1 + 2Be2 ) (Ce0 + 2Be3 )
e 3
that is:

e

A11 A12 A13 A14 0
p
q = 2 A21 A22 A23 A24 e 1
e 2
F2
A31 A32 A33 A34
r
e 3
So:
A11 = (Ee1 2De0 ) 2A (Ce3 2Be0 )
however:
Ce3 2Be0 = e20 e3 + e21 e3 e22 e3 e33 2e0 e1 e2 2e20 e3
= e20 e3 + e21 e3 e22 e3 e33 2e0 e1 e2

= e20 + e21 e22 e23 e3 2e0 e1 e2

= e20 e21 e22 e23 e3 2e0 e1 e2 + 2e21 e3
= e3 2 (e0 e2 e1 e3 ) e1
Ce3 2Be0 = e3 2Ae1
Page 22
Axes Systems
January 13, 2011

also:
Ee1 2De0 = e20 e1 e31 e1 e22 + e1 e23 2e0 e2 e3 2e20 e1
= e20 e1 e31 e1 e22 + e1 e23 2e0 e2 e3

= e20 e21 e22 + e23 e1 2e0 e2 e3

= e20 e21 e22 e23 e1 2e0 e2 e3 + 2e1 e23
= e1 2 (e0 e2 e1 e3 ) e3
Ee1 2De0 = e1 2Ae3
thus:

A11 = e1 2Ae3 + 2A (e3 + 2Ae1 ) = e1 2Ae3 + 2Ae3 + 4A2 e1 = e1 1 4A2 = F 2 e1
Likewise:
A12 = (Ee0 2De1 ) 2A (Ce2 2Be1 )

however:
Ce2 2Be1 = e20 e2 + e21 e2 e32 e2 e23 2e21 e2 2e0 e1 e3
= e20 e2 e21 e2 e32 e2 e33 2e0 e1 e3

= e20 e21 e22 e23 e2 2e0 e1 e3

= e20 e21 e22 e23 e2 2e0 e1 e3 + 2e20 e2
= e2 + 2 (e0 e2 e1 e3 ) e0
Ce2 2Be1 = e2 + 2Ae0
and:
Ee0 + 2De1 = e30 e0 e21 e0 e22 + e0 e23 + 2e1 e2 e3 + 2e0 e21

= e30 + e0 e21 e0 e22 + e0 e23 + 2e1 e2 e3

= e20 + e21 e22 + e23 e0 + 2e1 e2 e3

= e20 + e21 + e22 + e23 e0 + 2e1 e2 e3 2e0 e22
= e0 2 (e0 e2 e1 e3 ) e2
Ee0 + 2De1 = e0 2Ae2
thus:
Also:

A12 = e0 2Ae2 2A (e2 + 2Ae0 ) = e0 2Ae2 + 2Ae2 4A2 e0 = e0 1 4A2 = +F 2 e0
A13 = (Ee3 + 2De2 ) 2A (Ce1 + 2Be2 )
but:
Ce1 + 2Be2 = e20 e1 + e31 e1 e22 e1 e23 + 2e1 e22 + 2e0 e2 e3
= e20 e1 + e31 + e1 e22 e1 e23 + 2e0 e2 e3

= e20 + e21 + e22 e23 e1 + 2e0 e2 e3

= e20 + e21 + e22 + e23 e1 + 2e0 e2 e3 2e1 e23
= e1 + 2 (e0 e2 e1 e3 ) e3
Ce1 + 2Be2 = e1 + 2Ae3
Axes Systems
January 13, 2011
Page 23

and:
Ee3 + 2De2 = e20 e3 e21 e3 e22 e3 + e33 + 2e22 e3 + 2e0 e1 e2
= e20 e3 e21 e3 + e22 e3 + e33 + 2e0 e1 e2

= e20 e21 + e22 + e23 e3 + 2e0 e1 e2

= e20 + e21 + e22 + e23 e3 + 2e0 e1 e2 2e21 e3
= e3 + 2 (e0 e2 e1 e3 ) e1
Ee3 + 2De2 = e3 + 2Ae1
thus:

A13 = e3 + 2Ae1 2A (e1 + 2Ae3 ) = e3 + 2Ae1 2Ae1 4A2 e3 = e3 1 4A2 = +F 2 e3
Similarly:
A14 = (Ee2 2De3 ) 2A (Ce0 + 2Be3 )
however:
Ce0 + 2Be3 = e30 + e0 e21 e0 e22 e0 e23 + 2e1 e2 e3 + 2e0 e23
= e30 + e0 e21 e0 e22 + e0 e23 + 2e1 e2 e3

= e20 + e21 e22 + e23 e0 + 2e1 e2 e3

= e20 + e21 + e22 + e23 e0 + 2e1 e2 e3 2e0 e22
= e0 2 (e0 e2 e1 e3 ) e2
Ce0 + 2Be3 = e0 2Ae2
and:
Ee2 2De3 = e20 e2 e21 e2 e32 + e2 e23 2e2 e23 2e0 e1 e3

= e20 e2 e21 e2 e32 e2 e23 2e0 e1 e3

= e20 e21 e22 e23 e2 2e0 e1 e3

= e20 e21 e22 e23 e2 2e0 e1 e3 + 2e20 e2
= e2 + 2 (e0 e2 e1 e3 ) e0
Ee2 2De3 = e2 + 2Ae0

A14 = e2 + 2Ae0 2A (e0 2Ae2 ) = e2 + 2Ae0 2Ae0 + 4A2 e2 = e2 1 4A2 = F 2 e2
and so:
p = 2 (e1 e 0 + e0 e 1 + e3 e 2 e2 e 3 )
Now:
A21 = Ee2 + 2D (Ce3 2Be0 )
= Ee2 2D (e3 + 2Ae1 )
= Ee2 2De3 4DAe1
A21 = e2 + 2Ae0 4DAe1
Page 24
Axes Systems
January 13, 2011

alternatively:
A21 = e2 + 2Ae0 4A e1 e2 e3 + e0 e21
= e2 + 2Ae0 + 4A e0 e22 e1 e2 e3 e0 e22 e0 e21

= e2 + 2Ae0 + 4A Ae2 e0 e22 e0 e21
= e2 + 4A2 e2 + 2Ae0 4Ae0 e22 4Ae0 e21

= e2 + 4A2 e2 + 2Ae0 1 2e22 2e21
= e2 + 4A2 e2 + 2Ae0 e20 + e21 + e22 + e23 2e22 2e21

= e2 + 4A2 e2 + 2Ae0 e20 e21 e22 + e23
= e2 + 4A2 e2 + 2AEe0
= F 2 e2 + 2AEe0
Also:
A22 = Ee3 + 2D (Ce2 2Be1 )

= Ee3 2D (e2 2Ae0 )
= Ee3 2De2 + 4DAe0
= e3 2Ae1 + 4DAe0
= e3 2Ae1 + 4A (e2 e3 + e0 e1 ) e0

= e3 2Ae1 + 4A e0 e2 e3 + e20 e1

= e3 2Ae1 + 4A e0 e2 e3 e1 e23 + e20 e1 + e1 e23

= e3 2Ae1 + 4A (e0 e2 e1 e3 ) e3 + e20 e1 + e1 e23

= e3 2Ae1 + 4A (e0 e2 e1 e3 ) e3 + e20 e1 + e1 e23

= e3 2Ae1 + 4A2 e3 + 4A e20 e1 + e1 e23

= e3 + 4A2 e3 + 2A 2e20 + 2e23 1 e1

= e3 + 4A2 e3 + 2A 2e20 + 2e23 e20 e21 e22 e23 e1

= e3 + 4A2 e3 + 2A e20 e21 e22 + e23 e1

= 1 4A2 e3 + 2AEe1
= F 2 e3 + 2AEe1
similarly:
A23 = Ee0 + 2D (Ce1 + 2Be2 )

= Ee0 + 2D (e1 + 2Ae3 )
= Ee0 + 2De1 + 4ADe3
= e0 2Ae2 + 4A (e2 e3 + e0 e1 ) e3

= e0 2Ae2 + 4A e2 e23 + e0 e1 e3
= e0 2Ae2 + 4A e20 e2 + e0 e1 e3 + e2 e23 + e20 e2

= e0 2Ae2 + 4A Ae0 + e2 e23 + e20 e2

= e0 4A2 e0 + 2A 2e23 + 2e20 1 e2

= e0 4A2 e0 + 2A 2e23 + 2e20 e20 e21 e22 e23 e2

= 1 4A2 e0 + 2A e20 e21 e22 + e23 e2
A23 = F 2 e0 + 2AEe2
Axes Systems
January 13, 2011
Page 25

and:
A24 = Ee1 + 2D (Ce0 + 2Be3 )
= Ee1 + 2D (e0 2Ae2 )
= Ee1 + 2De0 4ADe2
= e1 + 2Ae3 4A (e2 e3 + e0 e1 ) e2

= e1 + 2Ae3 4A e0 e1 e2 e21 e3 + e21 e3 + e22 e3

= e1 + 2Ae3 4A Ae1 + e21 e3 + e22 e3

= e1 4A2 e1 2A 2e21 + 2e22 1 e3

= 1 4A2 e1 2A 2e21 + 2e22 e20 e21 e22 e23 e3

= F 2 e1 2a e20 + e21 + e22 e23 e3
A24 = F 2 e1 + 2AEe3
Hence:
AE
[e0 e 0 + e1 e 1 + e2 e 2 + e3 e 3 ]
F2
as e20 + e21 + e22 + e23 = 1 then differentiating with respect to time gives:
q = 2 [e2 e 0 e3 e 1 + e0 e 2 + e1 e 3 ] + 4
0 = 2 (e0 e 0 + e1 e 1 + e2 e 2 + e3 e 3 )
thus:
q = 2 (e2 e 0 e3 e 1 + e0 e 2 + e1 e 3 )
Now:
A31 = 2De2 + E (Ce3 2Be0 )
= 2De2 E (e3 + 2Ae1 )
= e3 2Ae1 2AEe1

= e3 2Ae1 2A e20 e21 e22 + e23 e1

= e3 2Ae1 2A e20 e21 e22 e23 + 2e20 + 2e23 e1

= e3 2Ae1 2A 1 + 2e20 + 2e23 e1

= e3 4A e20 + e23 e1

= e3 4A e20 e1 + e1 e23 e0 e2 e3 + e0 e2 e3
= e3 4A [(e1 e3 e0 e2 ) e3 + (e0 e1 + e2 e3 ) e0 ]
= e3 + 4A2 e3 4ADe0
A31 = F 2 e3 4ADe0
Likewise:
A32 = 2De3 + E (Ce2 2Be1 )
= 2De3 + E (e2 + 2Ae0 )
= +e2 2Ae0 + 2AEe0

= +e2 2Ae0 + 2A e20 e21 e22 + e23 e0

= +e2 2Ae0 + 2A e20 + e21 + e22 + e23 2e21 2e22 e0

= +e2 2Ae0 + 2Ae0 4A e21 + e22 e0

= +e2 4A e0 e21 + e0 e22 e1 e2 e3 + e1 e2 e3
= +e2 4A [(e0 e2 e1 e3 ) e2 + (e0 e1 + e2 e3 ) e1 ]

= +e2 4A2 e2 4ADe1
A32 = +F 2 e2 4ADe1
Page 26
Axes Systems
January 13, 2011

similarly:
A33 = 2De0 + E (Ce1 + 2Be2 )
= 2De0 + E (e1 + 2Ae3 )
= 2De0 + Ee1 + 2AEe3
= e1 2Ae3 + 2AEe3

= e1 2Ae3 + 2A e20 e21 e22 + e23 e3

= e1 2Ae3 + 2A e20 + e21 + e22 + e23 2e21 2e22 e3

= e1 2Ae3 + 2Ae3 4A e21 + e22 e3

= e1 4A e21 e3 + e22 e3 e0 e1 e2 + e0 e1 e2
= e1 4A [(e1 e3 e0 e2 ) e1 + (e2 e3 + e0 e1 ) e2 ]
= e1 4A [Ae1 + De2 ]
= e1 + 4A2 e1 4ADe2
A33 = F 2 e1 4ADe2
finally:
A34 = 2De1 + E (Ce0 + 2Be3 )
= 2De1 + E (e0 2Ae2 )
= e0 2Ae2 2AEe2

= e0 2Ae2 2A e20 e21 e22 + e23 e2

= e0 2Ae2 2A e20 e21 e22 e23 + 2e20 + 2e23 e2

= e0 4A e20 + e23 e2

= e0 4A e20 e2 e0 e1 e3 + e0 e1 e3 + e2 e23
= e0 4A [(e0 e2 e1 e3 ) e0 + (e0 e1 + e2 e3 ) e3 ]
= e0 4A [Ae0 + De3 ]
= e0 4A2 e0 4ADe3
A34 = F 2 e0 4ADe3
So:
r = 2 [e3 e 0 + e2 e 1 e1 e 2 + e0 e 3 ] 4
AD
[e0 e 0 + e1 e 1 + e2 e 2 + e3 e 3 ]
F2
thus:
r = 2 (e3 e 0 + e2 e 1 e1 e 2 + e0 e 3 )
Thus:

p
e1 e0
e3 e2
e 0
q
e2 e3 e0
e1 e 1
= 2
r
e3 e2 e1 e0 e 2
0
e0
e1
e2
e3
e 3
or:

1

e1 e0
e3 e2
p
p
e 0
e 1 1 e2 e3 e0
1
q
e
1

q
=
e 2 2 e3 e2 e1 e0 r = 2 B r
e0
e1
e2
e3
0
0
e 3
Axes Systems
January 13, 2011
Page 27

hence:
But:

e3 e0 e1
e2 e0 e1
e2 e3 e1
e2 e3 e0

|B| = e1 e2 e1 e0 e0 e3 e1 e0 + e3 e3 e2 e0 + e2 e3 e2 e1
e1
e0
e0
e0
e2 e3
e2 e3
e1 e3
e1
e2

e3 e0 e1

e1 e2 e1 e0 = e1 e3 (e1 e3 e0 e2 ) e0 (e2 e3 e0 e1 ) + e1 e22 + e21
e1
e2 e3

= e1 e1 e23 + e0 e2 e3 e0 e2 e3 + e20 e1 + +e1 e22 + e21

= e21 e23 + e20 + +e22 + e21
= e21
and:

e2 e0 e1

e0 e3 e1 e0 = e0 e2 (e1 e3 e0 e2 ) + e0 e23 + e20 + e1 (e2 e3 + e0 e1 )
e0
e2 e3

= e0 e1 e2 e3 + e0 e22 + e0 e23 + e20 e1 e2 e3 + e0 e21

= e20 e22 + e23 + e20 + e21
= e20
also:

e2 e3 e1

+e3 e3 e2 e0 = +e3 e2 (e2 e3 e0 e1 ) + e3 e23 e20 + e1 (e1 e3 e0 e2 )
e0
e1 e3

= +e3 e22 e3 + e0 e1 e2 e3 e23 + e20 e21 e3 e0 e1 e2

= e23 e22 + e23 + e20 + e21
= e23
finally:

e2 e3 e0

+e2 e3 e2 e1 = +e2 e2 e22 + e21 + e3 (e2 e3 + e0 e1 ) + e0 (e1 e3 e0 e2 )
e0
e1
e2

= +e2 e2 e22 + e21 e2 e23 + e0 e1 e3 e0 e1 e3 e20 e2

= e22 (e22 + e21 + e2 e23 + e20
= e22
Thus:
|B| = e20 e21 e22 e23 = 1
Applying Cramers rule:

p e0

e3 e2

e3 e0 e1
e0 e3 e2
e0 e3 e2
q e3 e0

e
1
|B1 | =
= p e2 e1 e0 q e2 e1 e0 + r e3 e0 e1

r e2 e1 e0
e1
e1 e2
e1 e2 e3
e2 e3
e3
0 e1
e2
e3
Page 28
Axes Systems
January 13, 2011

but:

e3 e0 e1

p e2 e1 e0 = p e3 (e1 e3 e0 e2 ) e0 (e2 e3 e0 e1 ) + e1 e22 + e21
e1
e2 e3

= p e1 e23 + e0 e2 e3 e0 e2 e3 + e30 e1 + e1 e22 + e21

= pe1 e23 + e30 + e22 + e21
= pe1
and:

e0 e3 e2

q e2 e1 e0 = q e0 (e1 e3 e0 e2 ) e3 (e2 e3 e0 e1 ) e2 e22 + e21
e1 e2
e3

= q e0 e1 e3 e20 e2 e2 e23 + e0 e1 e3 e2 e22 + e21

= qe2 e23 + e30 + e22 + e21
= qe2
also:

e0 e3 e2

+r e3 e0 e1 = r e0 (e0 e3 e1 e2 ) e3 e23 e21 e2 (e3 e2 e0 e1 )
e1 e2 e3

= r e20 e3 e0 e1 e2 + e3 e23 + e21 + e22 e3 + e0 e1 e2

= re3 e20 + e33 + e21 + e22
= re3
Hence:
e 0 =
1
1 |B1 |
= (+pe1 + qe2 + re3 )
2 |B|
2
Likewise:
1
e 1 = (pe0 + qe3 re2 )
2
1
e 2 = (pe3 qe0 + re1 )
2
1
e 3 = (+pe2 qe1 re0 )
2
or:

e 0
0
p
q
r
e0
e 1
= 1 p 0 r q e1
e 2
0 p e2
2 q r
e 3
r q p
0
e3
B.4
Error propagation
Now:
0
p
q
r
e0
pe1 + qe2 + re3
p 0 r q e1

= e0 e1 e2 e3 pe0 re2 + qe3
= e0 e1 e2 e3
q r
qe0 + re1 pe3
0 p e2
r q p
0
e3
re0 qe1 + pe2
= pe0 e1 + qe0 e2 + re0 e3 pe0 e1 re1 e2 + qe1 e3 qe0 e2 + re1 e2 pe2 e3 re0 e3 qe1 e3 + pe2 e3
= 0
Axes Systems
January 13, 2011
Page 29

Axes Systems, Orientation and Motion Notation

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Axes Systems, Orientation and Motion Notation

Uploaded by

Copyright:

Available Formats

Department of Aerospace Sciences

Air Vehicle Modelling and Simulation