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Please use this identifier to cite or link to this item: http://hdl.handle.net/10204/6016

Title: Attitude and position tracking
Authors: Candy, LP
Lasenby, J
Keywords: Velocity data
Direction cosine matrices
DCM
Kinematics
Algebra
Geometric algebra
Bivectors
Conformal mapping
Issue Date: 2011
Publisher: Springer-Verlag
Citation: Candy, LP and Lasenby, J. 2011. Attitude and position tracking. Guide to Geometric Algebra in Practice. Springer-Verlag, London, UK.
Series/Report no.: Workflow;8605
Abstract: Several applications require the tracking of attitude and position of a body based on velocity data. It is tempting to use direction cosine matrices (DCM), for example, to track attitude based on angular velocity data, and to integrate the linear velocity data separately in a suitable frame. In this chapter we make the case for using bivectors as the attitude tracking method of choice since several features make their performance and flexibility superior to that of DCMs, Euler angles or even rotors. We also discuss potential advantages in using CGA to combine the integration of angular and linear velocities in one step, as the features that make bivectors attractive for tracking rotations extend to bivectors that represent general displacements.
Description: Copyright: 2011 Springer-Verlag. This is an ABSTRACT ONLY.
URI: http://www.springerlink.com/content/r4451277177n9q72/
http://hdl.handle.net/10204/6016
ISBN: 978-0-85729-810-2
978-0-85729-811-9
Appears in Collections:Aeronautic systems
Advanced mathematical modelling and simulation
General science, engineering & technology

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