Kinematics, Dynamics, and Estimation of Rigid-Body Motion Using Euler Parameters (Quaternions)

Abstract

This report explores the algebraic and measure-theoretic properties of the Euler parameter (quaternion) representation of the rotation group. A family of probability densities on this group is examined, and schemes for numerical integration and estimation of satellite attitude are presented with numerical examples. An effort has been made wherever possible to deal with nonlinear problems directly rather than linearizing them. Several questions for further research are raised regarding convolutions of densities on the group, Brownian motion, and the statistics of spin and torque vectors considered as stochastic variables.

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Document Details

Document Type
Technical Report
Publication Date
Nov 01, 1981
Accession Number
ADA107537

Entities

People

  • W. L. Ebert

Organizations

  • Johns Hopkins University

Tags

Communities of Interest

  • Sensors
  • Space
  • Weapons Technologies

DTIC Thesaurus Topics

  • Algorithms
  • Artificial Satellites
  • Differential Equations
  • Eigenvalues
  • Kinematics
  • Measurement
  • Orientation (Direction)
  • Physics
  • Physics Laboratories
  • Probability
  • Probability Density Functions
  • Random Variables
  • Rotation
  • Satellite Orientation
  • Spacecraft
  • Three Dimensional
  • Two Dimensional

Fields of Study

  • Mathematics

Readers

  • Control Systems Engineering.
  • Statistical inference.

Technology Areas

  • Space
  • Space - Spacecraft Maneuvers