Attitude and kinematics of coordinate frames

Abstract

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.