Euler Angles and Quaternions in Six Degree of Freedom Simulations of Projectiles
Abstract
When developing simulations of aircraft, missiles or gun-launched projectiles, investigators require a coordinate frame in which to follow the motion. Newton's laws require an inertial (unaccelerated) frame. The earth is a convenient reference frame but is not inertial since the earth rotates. The earth may nonetheless be used, with Coriolis and centripetal accelerations included to account for the earth's rotation. However, the projectile is both translating and rotating. Thus it is convenient to express the equations of motion of the projectile, missile or aircraft in coordinates that move along with it in some way. The obvious choice is body- fixed coordinates. These coordinates are attached to the projectile or aircraft and roll, pitch and yaw with it. The reader familiar with gimbals or gyroscopes will recognize that these Euler angles of roll, pitch and yaw are equivalent to gimbal angles. In the case of a guided projectile, the seeker, rate sensor, accelerometers, and control mechanisms whether aerodynamic or reaction control all operate in and are easiest to describe in body-fixed coordinates.
Document Details
- Document Type
- Technical Report
- Publication Date
- Mar 01, 1996
- Accession Number
- ADA417259
Entities
People
- Michael J. Amoruso
Organizations
- United States Army Armament Research, Development and Engineering Center