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AAE 551 Aircraft Stability N Control CHAPTRR 3-1
AAE 551 Aircraft Stability N Control CHAPTRR 3-1
Euler Angle
Quaternions
Euler Angles**
For general applications in 3D, often need to perform 3 separate
rotations to relate our inertial frame to our body frame
Especially true for aircraft problems
There are many ways to do this set of rotations with the variations be
based on the order of the rotations
All would be acceptable
Some are more commonly used than others
Standard: start with the body frame (x,y,z) aligned with the inertial
(X,Y,Z), and then perform 3 rotations to reorient the body frame.
** R. C. Nelson. Flight Stability and Automatic Control, 2nd Edition. McGraw--Hill, 1998.
Euler Angles
o Rotate by about Z x, y, z .
o Rotate by about y x, y, z.
o Rotate by about x x, y, z .
Heading/yaw
Pitch
Roll
Euler Angles
x c 0 s X x
y 0 1 0 Y T ( ) y
2
z s 0 c Z z
x 1 0 0 x x
y 0 c s y T ( ) y
1
z 0 s c z z
Euler Angles
When combined together produce the following rotation:
x X
y T ( )T ( )T ( ) Y
1 2 3
z Z
cc cs s X
cs ssc cc sss sc Y
ss csc sc css cc Z
Note that the order that these rotations are applied matters
and will greatly change the answer matrix multiplies of Ti
must be done consistently.
Euler Angles
In order to get the angular velocity in this case, we have to include the
following three terms:
x 0 0
b y T1 ( )T2 ( ) 0 T1 ( ) 0
z 0
Euler Angles
0 2
2 2
0 2
These then completes the formulation of a pretty standard set of the Euler
angles.
Euler Angles
Quaternions
Cons: