Browsing by Author "YEON, FJ"

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ERROR ANALYSIS OF QUATERNION TRANSFORMATIONS
(1991-07-01)
YEON, FJ
;
YU, PL
;
電控工程研究所
;
Institute of Electrical and Control Engineering
Three transformation formulas are derived that related the quaternions to the direction cosine matrix used in strapdown inertial systems. Transformation errors associated with these formulas are fully analyzed. The drift errors evaluated under constant angular velocity have been shown to vary slightly among three different transformations. It is shown that the skew errors in three transformation schemes are not all intrinsically zero. Yet the scale errors may differ largely by two orders of magnitude among transformation schemes. This may become a selection criteria for selection of attitude transformation schemes.
ON THE ROTATION VECTOR DIFFERENTIAL-EQUATION
(1991-01-01)
YEON, FJ
;
YU, PL
;
電控工程研究所
;
Institute of Electrical and Control Engineering
A direct and simple derivation of the differential equation of the rotation vector is provided. The property that the time derivative of the rotation vector and the angular velocity have equal component along the direction of the rotation vector is also derived.