Alternate Forms of Relative Attitude Kinematics and Dynamics Equations

In this paper the alternate forms of the relative attitude kinematics and relative dynamics equations are presented. These developments are different from the earlier developments that have been presented in other publications. The current forms of equations have the advantage of being simpler than earlier ones. These equations are applied in developing the necessary kinematics and dynamics for relative navigation in formation flying and virtual platforms. These equations also have application in the implementation of nonlinear full state feedback and nonlinear output feedback control for large attitude angle acquisition and tracking. This paper presents simulations from such a full state feedback control application.