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Euler angles, quaternions, and transformation matrices for space shuttle analysisRelationships between the Euler angles and the transformation matrix, the quaternion and the transformation matrix, and the Euler angles and the quaternion are analyzed, and equations developed are applied directly to current space shuttle problems. The twelve three-axis Euler transformation matrices as functions of the Euler angles, the equations for the quaternion as a function of the Euler angles, and the Euler angles as a function of the transformation matrix elements are included along with a group of utility subroutines to accomplish the Euler matrix, quaternion matrix, and Euler quaternion relationships.
Document ID
19770019231
Document Type
Contractor Report (CR)
Authors
Henderson, D. M. (McDonnell-Douglas Technical Services Co., Inc. Houston, TX, United States)
Date Acquired
September 3, 2013
Publication Date
June 9, 1977
Subject Category
ASTRONAUTICS (GENERAL)
Report/Patent Number
DN-1.4-8-020
NASA-CR-151435
Funding Number(s)
CONTRACT_GRANT: NAS9-14960
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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