In this paper an alternative model based on quaternions for the translational and attitude dynamics of a 6DoF vehicle is presented. Specifically, the properties of unit quaternions, well suited to embody rotations in three-dimensional spaces, are used for representing the most important modes related with attitude dynamics, while full quaternions, that allow the representation of rotations and magnifications at the same time, are used for the modeling of the translational dynamics. Simulation results are also included, as an application of the proposed approach to the control of a Low Earth Orbiter and a self-guided artillery projectile.

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