## Definition of the Euler Transformation Matrices
To transform motions about the Mir body axes into the inertial reference frame, define three Euler angles , , and as arguments of three rotation matrices. These matrices will be combined into one matrix to provide for a general multiaxis rotation. The Euler matrices , and rotate from the inertial unprimed frame to the primed frame use the form where
At this point . Now we rotate about the primed frame
At this point . Now rotate the double primed frame axis about the primed frame
Finally . Define to be the combined solid body rotation matrix and be its inverse such that
Converted by Mathematica
October 6, 1999
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