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Shuttle Program. Euler angles, quaternions, and transformation matrices working relationshipsA brief mathematical development of the relationship between the Euler angles and the transformation matrix, the quaternion and the transformation matrix, and the Euler angles and the quaternion is presented. The analysis and equations presented apply directly to current space shuttle problems. The twelve three-axis Euler transformation matrices are given as functions of the Euler angles, the equations for the quaternion as a funtion of the Euler angles, and the Euler angles as a function of the transformation matrix elements.
Document ID
19770024290
Document Type
Technical Memorandum (TM)
Authors
Henderson, D. M. (McDonnell Douglas Tech. Services Co., Inc.)
Date Acquired
September 3, 2013
Publication Date
July 1, 1977
Subject Category
SPACE TRANSPORTATION
Report/Patent Number
NASA-TM-74839
JSC-12960
REPT-77-FM-37
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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