T 177.

"-, AFWAL-TR-84-3045 .'

w o
USE OF QUATERNIONS IV FLIGHT MECHANICS

SJ WILBUR L. HANKEY
jf L. EARL MILLER
tow STEPHEN J. SCHERR

Aerodynamics and Airframe Branch (AFWAL/FIMM) ,Nip

High Speed Aero Performance Branch (AFWAL/FIMG)
Aeromechanics Division (AFWAL/FIM)

March 1984

Final Technical Report

mmmJ

Approved for public release; distribution unlimited

FLIGHT DYNAMICS LABORATORY ""m"

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S.. ..... . . .... . . .-.-
.. . ,, ,. . '. :; ., ' .: : -, , % .:- ,,':: :,,: . ., .,.
 7 -77 77: 77--.-4.'-.7 P.7.. 7710. 1 177

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USE OF QUATERI4IONS IN FLIGHT MECHANICS______

% 1. .2. PERSONAL AUTI4OR(5I
Wilbur L. Hankey, L. Earl Miller, Stephen J. Scherr
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Classical flight mechanics employ velocity coordinate or body axes systems. The
* U'.'

latter uses Euler angles to define the aircraft orientation. Singularities and
ambiguities occur whenever the flight path or elevation angle is plus or minus ninety
* ~degrees. These problems are circumvented through the use of quaternions. Two problems
tion roaional dyaics a ndmthe soutony for the suaeondios an Eulmetria aonglesare
Thresd;te
aren adresd;te foairstl symmericanlcoagre-
dyaics an thesolutticody and the suaeondios an
determined for both problems.

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 FOREWORD

This report was prepared by personnel of the Flight Mechanics

Division of the Flight Dynamics Laboratory, Wright Aeronautical Labo-
ratories (AFWAL/FM), lWright-Patterson Air Force Base, Ohio. This
research was accomplished under Task 2307N603, *Computational Aerodynamics".
The effort reported here covered the period July 1982 to September
1983. Dr. Wilbur Hankey and Steve Scherr (FIMM) accomplished the
original work. Dr. Earl Miller (FIMG) starting in June 1983, revised
and extended the results of Technical Memorandum AFWAL-TM.83-178, "Use
of Quaternion to Numerically Analyze Aircraft Spin". This TM was used
as the basis for this technical report.

Accesuion For
+ GRAi&
DTIC TAB
Unannounced 0
Justifioatio +
2'
- ' "
By
Distribut ion/
Availability Codes
-- Av&iY and/or
Dist Special
.. ~ ~ ~ IUa ' .. I

iii.,'

.'.

F ,
 TABLE OF CONTENTS'.

SECTION PAGE
w,..T,
W INTRODUCTION . . . . . .,.... . . . ... ... . . 9
_.
DEFINITION OFQUATERNIONS .".'. .... .... '

III RIGID BODY DYNAMIC EQUATIONS . .. .. .. . .. ... .. ... 4

Nonaxsymmetric Confiurati on .. .. .. .. .... .. ... 6

77h NUMERICAL RESULTS . . . . . . . . . . . . . . . . . . . . . . 9

SNonaxtsymmetric Configuration . .. .. .. .. .. .. . .. 9
SAxisymmetric Configuration . .. .. .. .. .. .. .. . .. 10 I,_ I ..,

II DEFNITIO
QUTERNINS .. OF
..-.. ,....,.....
SAPPENDIX A -ANALYTIC SOLUTION: NONAXISYMMETRIC CASE . . .. 13
III RIIDBODYYNAMICQUATIN..:.-..:.,....,.

IVM APPENDIX BE
D L PR B -ANALYTIC
* * * SOLUTION:
* * AXISYMMETRIC
. . . * . CASE
* *. ..* * . ..*o
* 20 i::.'i:
. -.
II",..:..;
IIaismeti C-iurton.. .*** "..
-. FIGU/RES . . . . . . . . . . . . .. 253''
-o" .I 1.QI

, 1.N.,' .

II ONLUION 9"' 9 9 ""-9.1

* I
LIST OF SYMBOLS _

b span (feet)
c chord (feet)

IOzunit vector along z-axis

g acceleration of gravity (32.2 ft/sec2 )
' u-

IXV~y9Imoments of inertia about the principal axes (foot pounds)

* xyz
. .j interger
k function of u
L,M,N aerodynamic moments about body axes (foot pounds)
m aircraft mass (slugs)
11
pq,r roll, pitch and yaw rates, respectively (radians/second)
Q= (qlq2,q3,q 4 ) quaternion
R radius (feet)
s scalar of quaternion
S reference area of aircraft (square feet)
t time (seconds)
u,v,w velocity components in body axes (feet per second)
V vector of quaternion, velocity vector
x,y,z body axes coordinates
IXEYE, inertial axes coordinates
X,Y,Z aerodynamic forces aligned with body axes (pounds).
Sa,o,r angles between rotation axis of quaternion and body axes
x,y,z respectively

]- "4.;4.. - - - - .4I - 4

vi
 LIST OF SYMBOLS (Cont'd) .,,, C"

82 ratio of moments of inertia

ratio of initial roll to pitch rate '-

trigonometric transformation for pitch rate '

rotation angle for quaternion

0 ambient air density (slugs per cubic foot)

Euler angles for azimuth, elevation, and bank respectively
rotational velocity vector
C 4 dinitial pitch or yaw rotation rate (radians per second)

) dt derivative with respect to time

Subscript
0 initial value

e.:

*.C.;T1"

14.

Vi i C"""

% 'C

vi..
 "SECTION I

"IINTRODUCTION

In analyzing aircraft spin and other flight maneuvers with large

rotation rates based upon first principles, the non-linear aerodynamic
equations (Navier-Stokes) must 'be coupled with the rigid -body dynamic
equations of motion . In both systems of equations it is desirable to
use a body axes system to describe the forces and moments, and utilize a
surface-oriented coordinate system for obtaining the flowfield grid. To
solve this system of equations it is necessary to describe the position
of the aircraft with respect to a fixed inertial coordinate system. The
, ., classic method is to use the Euler angles (*,-e-) to define the aircraft
orientation. However, singularities and ambiguities exist when the
elevation angle is plus or minus ninety degrees.' This difficulty has been
overcome inthe field of inertial udne bthusofqarin o
describe the aircraft position in space * . It is the purpose of this re-
port to investigate this technique for numerically solving aircraft spin
Sproblems. Two problems are addressed; the first is a nonsynnmetric body
and the second Is symmetric4-hA The rotational dynamics and the solution for
the quaternions and Euler angles are determined for both problems.

I.. ..:

- -. . .. . :v 4 ,,k: '.4 *
, ... , i' ,. . . . .*'- . *'.. , .4.
- .- - , .' .. .... ...
'. ,- .. .* . -,...* :,' ..
... .. ,a
 9Y ..

11 S~SECTION

DEFINITION OF QUATERNIONS
Hamilton (circa 1840) was the first to point out that the three
Euler angles are inadequate to uniquely define the orientation of a body
in space and that four variables are required to resolve the predica-
ment. Hence he invented the quaternion &vA,6

y.-qtetern4eeTis a scalar p 111a four elements.

vec ortotaling

W-8~ + V -
Q . (q1 1 q2 t q 3 q4 ) (1),

Three of the elements describe a vector, and this vector defines an axis'.
of rotation. The fourth element, a scalar, defines the magnitude of a
rotation angle about the vector axis.
The definition of the four elements of the quaternion follows:

q3 2 CS

Sq2 sin k cos Y

where m,B,y are the angles between the rotation axis and the x,y,z axis v7

respectively. The amount of rotation is the angle v. The rotations

are illustrated in Figure l.*

Observe that the quaternaons are subject to the constraint that

q2 +q +q + q2
q1 2 q3 4 (3)

Figures begin on page 23.

2
.,., '.' '.. :". . - -".,"-- - - . ,-:
":"" .S" ."" " ,-;-,.;.2'",. .. ;:,:,'." ;";" "."",
 The Interrelationship with the Euler a'gies is as follows:

.k ~
acoorIto
2 2 c s2A iA sinIsinA
2 2 213
Cos Jocoo. sin A- aIn.,1 sin Cos
q co 2 2 2 2 2

V
2
(4)
I.,.o. o 2 , o. ,
q4 sinCO
4 Cos A + in
S -sin

The relationships for the Ev.ler angles Interms Of quaternions aref

sin e 2(qlq 3 q2 q,4 )

sin,* cosIs 2:2
2(ql'4
* 2 + q3 q4 )
Cos CosG -2~ 2q7
Sin * Cos e M 2(q q.
4 + 23

I cos * Cos e al-2q - 2q(

SThe four quaternion position coordinates are computed by solving four

differential rate equations.

q, 0 -p -q -r q"
q2 P 0 r -q2
42 1
q2 11
(6)
* 3 q "r 0 P q3
i3.
qN r q -p 0 q

- where p. q, r are the rotaticn rates in roll, pitch and yaw respectively

that must be obtained from the rigid body dynamic equations. These
equations are well behaved since p,q, and r are finite.

3
a't-.'' . .: :; ' ; ;- ':.. : ,:,.-" ."-' . - a-. . .. . . .: . . . . .:
" -* . -..... "=''=... ... .. ~_ l.J L-: e 'J " %'*',% .-'','* ' % ',-L L* *,__" , " o .*,,. -- .'. - p
 i'. '1
SECTION III

C'. RIGID BODY DYNAMIC EQUATIONS

The rigid body dynamic equations used to compute aircraft spin 4
. 'with six degrees of freedom contain three moment equations and three
force equations. The selected axes system for the differential equation
formulation is a body coordinate frame. This system is selected because
,the aerodynamic data and the body angular rates are measured relative to
it. The x and z axes form a plane of symmetry. It is convenient to align
the coordinate system with the principal axes since all products of inertia
are zero in this framework.

* HMoment Equations
SIx f+ (I -I )qr L(u,vwp,q,rp,Sb)
zy
Iy + (I -Iz )pr "Ai(u,v,wpqr,p,S,c) (7)

I + (' -1I)pq - )I(u,v~w,p,q,r,p,S,b)

Force Equations

m(..+qw-rv)+g sin e=X(u,v,w,p,q,r,p,S)

um('+ru-pw)-ng sin *ona

emY(usvt,wp~q,r,p,S) (8)
0(-+pv-qu)-mg cos 4 cos 0,Z(u,v,w,p,q,rP,S)

Given the aerodynamic characteristics, along with the mass and

inertial parameters, the above six dynamic equations are solved for

p,qtr~u~vw. The quaternions are obtained by solving Equation (6)

as a subroutine in conjunction with the simultaneous solution of Equations

(7) and (8).

4a,

*o . . . . **. . *. ,
 The hypothesis at this point is that the numerical solution of the
quaternion rate Equation (6), Is better behaved than the alternative
procedure for resolving the Euler angles. The differential equations (7
for the Euler angles are

A a (q &in # + .T coo 4) see

ooq -r sin (9)
-P + . 0:e
si

Clearly, difficulties arise when 0 reaches plus or minus 900. The rate
for the azimuth angle grows without bound, thus numerical integration of
Equation (9) is not possible. But this problem is circumvented by first
solving for the quaternions and then the Euler angles from Equations (5).
We next turn our attention to the development of the rotational
solution for two problems.

*' *
- a =4
 "SECTION IV
MODEL PROBLEM ft

Nonaxisymmetric Configuration
The first problem was selected to demonstrate the essential features
of manipulating the quaternions and to obtain the required numerical
experience. Observe that the aerodynamic moments, Equations (7), are

coupled to the force equations, Equations (8), through the velocity components.
For a situation in which the aerodynamic torque vanishes, the dynamic
equations are uncoupled. We will consider such a case, that of a thin
retangular plate which is illustrated in Figure 2(a). In this case,
the moments of inertia are also simplified as follows:
I a I + Ix and I Ix (10)
z y x y
This example corresponds to a configuration where all products of inertia

are zero, which is a fair approximation for most aircraft. For the case
of no external torque, it can be shown that rotation about the y vehicle
axis with the intermediate value for the moment of inertia (I ) is unstable, "
y
while rotation about the other two axes is stable. For this problem the f

rotation is about the unstable axis,

Equation (7) now reduces to the following simple form:

+ qr -0 ,

- pr a 0 (11)
2
++6 p-0

.4.o

... *~~~~~~ ~ ~f--.~- A tt f tf.

 where
2ly-Ix (12)
Zy + Ix
Equation (11) combined with Equation (6) will describe the angular motion
of the rigid body given a set of initial conditions. (These values can V,

then be inserted into Equation (8) to find the translational components).

Initial conditions for the unstable situation were selected.

p(O) * c..
- qW) *(13)

Q(o) (1.0.0.0)

Axisyetric Configuration
The shape for this problem is a thin circular disk with the x and y
axes in the circular section and z'perpendicular to these axes. The
configuration is illustrated in Figure 2(b). All products of Inertia

are zero. I-mR -

The moments of inertia are
1 2
1 m(14)
I~= mR2

4.

".,.-,%'.-
7' ., .

'/' '""";' -"'[ " ": " .' '" "; " ;` ` `; ` ? : : ` ` T` . ` `` ` ` . -, .' .v '. ' .: ,. . . ,2 "."7
 *J 17:~
-4 ;-, i7 71
101

bu h
where R is the radius of the disk. The initial rotatinI
z-axis, thus

4.". p(O)-q(O)uO

* Itis assumed that the aerodynamic moments are zero. Equation (7)reduces

to
p+ qr -0

q-pr -0 (16) ~-~

0m

Equations (6)and (16) describe the angular motion of the rigid body, given
:~
the initial conaltions, Equations (15)and

*(O)-f('.4

(17)

From Equation (4), the initial values for the quaternions are
'
0-0 0 (18)
Q(O)-(cos -, 2 0, sin 22' 0)

.48
 T. 7.mil -7 -j'..i-i' %

SECTION V

NUMERICAL RESULTS
Nonaxi sym.etric Configuration |11|.
The system of equations (Equations (6) and (11)) were solved for
parametric values of fl- 10 rad/sec. c a 0.01 and 8 = 0.7.
A Runge-Kutta fixed time step Integration technique was used.

Figures 3, 4, 5 present the roll, pitch and yaw rates for several
hI.Bm.
revolutions as computed from Equation (11). Figures 6 through 9 present

the history of the quaternion position coordinates as determined from

Equation (6) using the values of p, q, and r determined from the solution
was 0.001 sec
of Equation (11). The time step size used for the integration
produced repeatable
which was selected after numerical experimentation

results. The Euler angles were then computed from Equations (5).

Figures 10 through 12 present the history of the Euler angles. No

difficulty was encountered in numerically Integrating Equations (6) and

(1i). The reason for this is that the quaternions are obtained from Equations

(6) which are well behaved. Also, they are bounded by plus and minus

one. Thus Equations (11) are well behaved and no difficulty is obtained

in integrating them. The difficulty is in attempting to integrate r

Equations (9). But this is unnecessary since the Euler angles can be
obtained directly from Equations (5).
_ _ The solutions for the Euler angles 0 and 0 undergo rapid

transitions. This is a result of two conditions that take place. From

Equation (5) , 0 approaches plus or minus 900 and the combination of the

quaternions on the right side changes sign. Thus the right side changes

rapidly from large positive values to large negative values and vice
versa.
91m
4 e:
 .I
-W

rates are periodic

A further observation is that the rotational
not.
functions of time. But the Euler angles are
(see Appendix A).
An analytical solution to this problem exists
and analytical
Excellent agreement was obtained between the numerical
values thereby confirming the numerical approach.

AxisYmmetric Configuration
The system of equations, Equations (6) and (16) were solved for a

parametric yaw rate of n 10 rad/sec. It is shown in Appendix B and

can be verified numerically that the solution for the body angular rates
is
P o
(19)

Figures 13 through 16 are the time histories of the quaternions. Figures

17 through 19 are the Euler angles.

Two significant results are established in Appendix B. The first

is that the configuration remains in the same vertical plane that it

started in whenever the bank angle is zero. The second result is that
the attitude does not change throughout the trajectory. These results
agree with the observed trajectory of a Frisbee when the initial bank
angle is zero. The numerical solution agrees with the analytical solution
of Appendix B.

1.

"*4.
' -.

S.4..,

10 ? 4.,

. ii . e " I " . . . . %Ii I % I } m 1 J ] .4. .

 -. . Wr -' W.

SECTION VI
CONCLUSIONS ,

Experience has shown that numerical difficulties arise in using the

Euler angles to describe the orientation of an aircraft during large
changes in the Euler elevation angle. The angular rates for the heading and ,
bank angles are undefined whenever the elevation angle reaches plus or minus
ninety degrees. The numerical difficulties may be completely overcome
through the use of quaternions in place of the Euler angles. The Euler t
angles are then easily computed from the quaternion solution.
Two problems were solved numerically and analytically. The results
for the two approaches did agree and there was no difficulty in obtaining

numerical results. The first problem was an example of a nonaxisymmetric

,*
1 configuration. The rotation was about the unstable principal axis. The

body rotational rates were periodic, however, the quaternions and Euler
angles were not.
The second problem represented an axisymmetric configuration. Again
no numerical difficulties were obtained when the quaternions were used.
The rotation was about the yaw axis. Two significant results obtained
were that if the initial bank angle was zero, then the trajectory remained
in the initial vertical plane. The second result was that the attitude did

not change throughout the trajectory. The use of quaternions to solve flight
mechanics problems is therefore highly recommended for future
investigations.

i11

-. . ... * U * * q~ S I * - U.

-* ~
** * *
** we~~. . *~ * .
-- * 5 Yb.U.
*5.*~*
"A.. I

REFERENCES
1. Gallaway, C., "Numerica.1 Comoutition of an Autorotating Plate." PhD
Dissertation, AFIT/DS/AA/83-1, WPAFB, OH (to be published).
Bil- 2. Robinson, A.C., "On the Use of Quaternions In Simulation of Rigid Body
Motion," WADC TR 58-17, Dec 1958, USAF, Wright Air Development Center, WPAFB, OH.

3. Ickes. B.P., "A New Method for Performing Digital Control System
Attitude Computations Using Quaternions," AIAA Journal, Vol. 8. No. 1,
Jan 1970.
4. Etkin, B., Dynamics of Atmospheric Flight, New York, Wiley, 1972.
S. Byrd, P.F., and Friedman, M.D., Handbook of Elliptic Integrals for
Engineers and-Phsi.cists, Springer-Verlag, 1954.
6. Selby. S.M.. CRC Standard Mathematical Tables. Student Edition, 18th
Edition, The Chemical Rubber Co. 1970.

*--A-- - -

12xil
 W7.

APPENDIX A
AINALYTIC SOLUTION: NONAXISYMNETRIC CASE

An analytic solution exists for the model problem selected. '91

p +qr- 0P(o)-CA
S-pr- 0 q(O)-fn (A-1)
*2
+ pq R 0o r(O) 0n

Regroup these three moment equations as follows:

-qr -q/P or (p2+q2) ..

qmpr-rr/6q or (2+22) 0 (A-2)

dt9

_2
ru-2pq 2*
6pp/r or
d
-(6p2 2 _r2
dt 0

.These
9 three equations may be integrated readily and evaluated using the

initial conditions. Hence"

Sp2 + q a 1.2 (i+c 2)

2

, q 2 + r2/62 2 (A-3)
p2 r 2 /6 2 C2',..

* These expressions are energy constraint relationships, however, only two

independent equations are evident with the third one being redundant. There-
fore, one additional differential equation must be solved and the two energy 9

constraints used to obtain the complete solution.".

Differentiate Equation (11) with respect to time. '.9

-qr - rq - -p (r2 - q22)

q ;p + ir -q (r2 + 2 p2 )
(A-4)

*r - 6 piq -62qp 62r (q -_p2)

The energy constraints of Equation (A-3) may be inserted into one of the abnve

equations to obtain a single differential equation with one dependent variable.

13
 ' . .~ ... ~ ~ -. e~ll

We will select the middle equation. -',

q + 282(l 21) A2 _ q ]q w 0 (A-5) ,

solution. The solution Is obtained as follows:

Observe that

q 1/2 A(A-6)..
Hence Equation (A-6) becomes:
e t
[ /+2 2 ) (A-7)

Equation (A-7) may be il ediately Intesrated once

The iontial conditions may be used to evaluate C

q(O)
i(O) P(O) r(O) =0 (A-9)'. "'

'2 42 V2 ,E7
Hence

Cl = 6212)4(A-10)

Equation
qI0) (A-8)0S then becomes
q-2+)] (A-B3) "": -A

.2 22 2 2 2
12 62(.2 2)[f,(1+E 2)-q] (A-11) ...

Solving for q gives :

q 6 n 2(l+2)-q 2 d (A-12)

The sqgn is determined as follows: Initiallyteonce

q()I (A-
9...) :I
q(O)-n > 0

4(0) - q(O) 6(O) 4 0

14
 'U.a

Thus in the neighborhood of t-O, q is a convex function. It follows

that for t0O, q0O and therefore the negative sign is selected.

V- '(1+c 2
2 )-q (-.14)
..
WO'-q'

A convenient transformation is next employed. Let

sin (A-15)
Differentiating gives

Cos(A-16
dt f
Since
X(o)

and q decreases with time <!

7r/(A18
-v2 (A-17)

Equation (A-16) can be written as

i :. (A-19)

Equating to Equation (A-14) gives

-- F2
o (A-20)

where
k-2 (A-21)

Equation (A-20) can be integrated

"k2
r Xi ""(A-22)

i
i#+ .i n ' : +. .-. .. . . '+
. . . . . ...- " :
 t -~,'
7 7rrrrrr ---

Rewrite the right side

vf.'/2 -(
o
t +

Both Integrals are elliptic Integrals of the first kind. 5 Let

V(Ik) m (A-24)

then

t-- F(w/2,k) - F(x,k)

t0
k 0A-25)

Reference 5
For the example problem, k is near unity, therefore frCu

+ In In (A-26)

bt

.7~

-,-

16Y

i ~16

o . ...,.. , ;...
-. ..: ..... ... ,........
.... .j ....... ... , . . *. ,4 ,
 797F -q1 - r,V 177'.-

A table for the solution follows for'a k 0.99996

u"7

__ _ k)

900 5.991 1.000 0

850 3.126 .996 2.865

800 2.436 .985 3.555

700 1.735 .940 4.256

600 1.317 .866 4.674'

500 1.011 .766 4.980

400 .763 .643 5.228

300 .549 .500 5.442

200 .356 .342 5.635

100 .175 .174 5.816

00 0 0 5.991

The relations for p and r are determined in a manner similar to the

way that q was determined. Initially
j(0) - 0
"(A-27)
'P*(0) " P(O)62q2(0) > 0

r(O) - o

In the neighborhood of t-O, p is a concave function and r is a decreasing

function. From Equation (A-3)

+/12 1+2 2 (A-28)

2X
4+
Ak - 2 8n
k

- *_. -;E** *
17
 Since p increases
IT'.

P 12 (A-29) r

From Equation A-3

:]] v" g ~ (A-30)

it follows that
From the initial boundary condition and v;o)4,

"r, -n coo (A-31)

The following table presents the numerical values obtained by r

numerical integration.

- e

0 0.10 10.00 0
.409 0.88 9.96 -0.61

.508 1.74 9.85 -1.22

.608 3.42 9.40 -2.39 :

.668 5.01 8.66 -3.50

".711 6.41 7.68 -4.49 .

.747 7.66 6.42 -5.36

".777 8.65 5.02 -6.05

".805 9.40 3.42 -6.58

.831 9.85 1.73 -6.90 L

.856 10.00 0 -7.00

18
 The agreement between the theoretical values for the body rotational

rates and those obtained by numerical integration of the differential

equations is very good. This can be observed by comparing the tabular

results with Figures 3,4, and 5. Observe that the "rate period" is

a 4k
Period - n F(w/2,k) - 3.423 sec (A-32)

Note that the range may be extended as follows for any integer J:

F(jir+,k) - 2j(7r/2,k.) + F(.,k) (A-33)

and
F(-,,k) - - F(.,k) (A-34)

............................................

19
 -a~~7 ""T.7777. 7,-~a- -- ~

APPENDIX B
ANALYTIC SOLUTION: AXISYMMETRIC CASE
The body angular rates satisfy

+ qr 0O
-rp --o0o ,(O)
q(O) -fo,,
- 0( -),.:-"',.,.

From the latter equation

r (B-2)
Combining the first two equations gives

S". -qlr _ 2 p (B-3)

The boundary conditions are

p(O) - ;(0) 0 (8-4)
The solution is

In a similar way, it can be concluded that

q=O (B-6)
Substitution of p,q, and into Equation 5 gives

1 rq
Srq3

q (B-7)

q4 a " rq 1

Combining the first and last equations gives

of1 2 5

q- - (o)q (B-8)
Analytic integration using the boundary conditions gives .--

q Cos0 COs - (B-9)

q4 can be obtained directly from the first differential equation

4" q
rq, 0o
"Cos "sin.-nt(B-10) ~. -

20
 in.~~ - ,
7. .77,
74 N-- W7r.1 7 7-7

Combining the second and third differential equations results in a

second.-order differential equation. Integrating and satisfying the

boundary conditions gives

qq 2 nT_
s in 2

q sinLOCsiat

q3 in ca2 2

The Euler angles are obtained from Equation (14)

sin 3 2 4) *"sin 0Cos t (

sin * 2(qlq2 + q 3q4 ) sec 0 sin 00sin Ait sec 0

cos*= (1,-2q -2q3) see e cos e0 (B-1""

sin 0. - 2(q 2 q 3 + qlq4 ) sec wesin At sec e EZZ

coo *5 (1-2q 2q4) sec e cOS Co'o con At sec 0

Let the inertial coordinate axes be defined as follows: The XE and zE

axes are in the vertical plane of the initial motion. The YE axis is
perpendicular to these axes. The kinematic relation for in terms of

the quaternions and velocity components is

YE "2u(q
2 2
2
2q 4 ) + 2w(q qlq2 ) (B-13
1q + q 1(-2q 2 - 3q4 -

= u sin At + v cos At
Let V denote the component of the velocity vector measured in the x-y
p
plane. Then the components u and v satisfy
U Vp cos ft
(B-14)
v-V
sin ft

.21 L.

" 4. *.lY, * . .. *.4 - .... l..

 These two equations follow from the result that the x and y axes are
rotating at a constant rate n. Substitution of u and v into YEgives, "4,1
EaO., Therefore yE is t-ual to its inittial result and does not move out ':
.of the XE-ZE plane.

Since p and q are zero, the angular velocity of the x,y,z

dt __Z -~~, 111::''.,.
coordinate frame is w_where.

The rate of change of is' determitned from ..

Therefore ez which lles along the z-axis does not change. axe"ar
Consequently the orientation of the z-axis does not change. The ge

*f. I x.
conclusion is that the attitude
Sic.padqr erth does not change. afte'~~
nulrvloiy o tu
* ordntefae s/ hr
w ri 815 f

Th2a2o
hag fi dtrire from.
o d8
hpl mece mr'" *
I (.-16)
 -. ft -~'
.f. - ....-. f. - *~ $. X,.. - . - - ~ -

ftOf

Itx

ft. ft

~ftft ~ ft
7 7 t

Figur Angla Trasfomaton

ft ft
 T r

*I-..:4,

124

II

S,,,NONAXISYMM ETRIC CONFIGURATION

i-..4 l 1'6 4,.... K

,
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IAA

c C ' lo t C - C -9

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35

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36
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5- ____________

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