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9: Kinematics of Moving Frames

Last updated

Apr 23, 2021
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- 8.5: Issues of Cost and Accuracy
- 9.1: Introduction to Moving-Frame Kinematics

Franz S. Hover & Michael S. Triantafyllou
Massachusetts Institute of Technology via MIT OpenCourseWare

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9.1: Introduction to Moving-Frame Kinematics
Overview of the chapter's goals; lays out chapter's focus on changing reference frames.
9.2: Rotation of Reference Frames
Using transformation matrices and the Euler angles to describe the location of three-dimensional coordinates, following rotations of the coordinate system.
9.3: Differential Rotations
Describing an object's rotation from one reference frame to another, through differentiation of the rotation and object location.
9.4: Rate of Change of Euler Angles
Determining the effects of rotation on the rotation vector, by analyzing in sequence the small changes experienced by each Euler angle.
9.5: A Practical Example - Dead Reckoning
Example problem involving navigation by the method of dead reckoning, using longitudinal speed, heading, and additional factors that increase accuracy (measured angular rate, cross-body velocity).

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