The relation between the direction cosine matrix and Euler angles is: R= cosdcosy singsindcosy—cos¢siny cos¢sin@cosy+singsiny/ cosOsiny singsindsiny+cosdcosy cos¢sin @siny—sin pcos -sing singcosd cos pcos Equation 1 and equation 2 expresse how to rotate a vector measured in the frame of reference of the plane to the frame of reference of the ground. Equation 1 is expressed in terms of direction cosines. Equation 2 is expressed in terms of Euler angles. Eqn. 2 In equation 1, each component of the vector in the ground frame is equal to the dot product of the corresponding row of the rotation matrix with the vector in the plane frame. Nine multiplies and six additions are required to compute the rotation. Equation 3 is a restatement of equation 1, with the matrix multiplication expanded in terms of the elements of the vectors and the matrix. Qn = at Qre Hy Qry Hc Qrz 6, =F Qretly QoQ Eqn. 3 Gs = Fx Qoehy Qo hs Qrs Note that the R matrix is not necessarily symmetric. The three columns of the R matrix are the transformations of the three axis vectors of the plane to. the ground frame of reference. The three rows of the R matrix are the transformations of the three axis vectors of the ground coordinate system to the plane frame of reference. The R matrix contains all the information needed to express the orientation of the plane with respect to the ground. The R matrix is also called the direction cosine matrix, because each entry is the cosine of the angle between an axis of the plane and an axis on the ground. Although it would appear that there are 9 independent parameters in the R matrix, there are really only 3 independent ones, because of the six so-called orthogonality (also known as normalization) conditions: the three column vectors are mutually perpendicular and the magnitude of each column vector is equal to one. The transpose of any matrix, and the rotation matrix in particular, indicated as R', is formed by interchanging rows and columns. In general, the inverse of a square matrix, if it exists, is indicated as R~’. The inverse of a matrix times the matrix produces the identity matrix. (The identity matrix has all ones on the diagonal, and all zeros everywhere else. Multiplying any matrix by the identity matrix leaves it unchanged. In the case of rotation matrices, it turns out that the transpose of the R matrix is equal to its inverse: DCM 10 Draft: §/17/2009Eqn. 4 Q, =R"Q, =R'Q, The reason that the inverse of the rotation matrix is equal to its transpose is because of the symmetry of the situation. The elements of the rotation matrix are the cosines between pairs of axis, one in the plane frame, and one in the ground frame. The inverse situation is equivalent to exchanging the roles of the ground and plane frame of reference, which is the same as interchanging rows and columns, which is the same as the transpose. Also, the fact that the inverse is equal to the transpose is consistent with the orthogonality conditions, which can be expressed in matrix notation as: 100 =j0 10 Eqn. 5 001 Equation 5 can be used to prove that the inverse of R is R transpose, by multiplying the equation by the inverse of R, or by the inverse of R transpose. A very useful property of the rotation matrix is that we can compose rotations. We can multiply several rotations matrices together, and get a rotation matrix that is equivalent to applying all of the rotations in succession. We have to be careful to apply the rotations in succession on the left side of what we already have. For example, if we have three rotation matrices, from orientation A to orientation B, from B to C, and from C to D, we can compute the rotation matrix that will go from orientation A to orientation D according to: R'=R'R fotation matrix from Bto C Eqn. 6 rotation matrix from C to D Ryq = rotation matrix from A to D The reason that we have to be careful about the sequence of operations when multiplying rotations matrices is that matrix multiplication is NOT commutative. That is, the order of matrix multiplication matters very much... This is consistent with rotations, which are not commutative either. For example, consider what happens if a plane pitches around its own pitch and roll axes by 90 degrees each. The order very much matters. Suppose that is pitches up by 90 degrees, followed by a roll of 90 degrees. At that point the plane will be traveling vertically. However, if it rolls first, and then banks, it will be traveling in the horizontal plane. DCM nN Draft: §/17/2009Finally, there is a useful identity that applies to matrices in general, and to rotation matrices in particular. The transpose of the product of two matrices is equal to the product of the transposes of the matrices, with the two matrices swapped: (AB) =B'A Eqn.7 ‘A,Barematrices Vector dot and cross products Two very useful vector products that we will use in computing DCM and in using its elements for navigation and control are the dot product and the cross product. The dot product of two vectors A and B, is a scalar computed by performing a matrix multiplication of a A as a row vector with B as a column vector producing: B A-B=A'B=[4, 4, A]]B,|= 8, It turns out that the vector dot product produces a result that is equal to the product of the magnitudes of the two vectors, times the cosine of the angle between them: 1,B,+A,B,+AB, Eqn. 8 A-B=|A[B|-cos@,.) Eqn. 9 We note that the dot product is commutative: A-B=B-A The cross product of two vectors A and B, is a vector whose components are computed by: (AxB), =4,8,-AB, (AxB),=4.8,-AB, Eqn. 10 (AxB), =4,B,-A,B, The cross product is perpendicular to both of its vector factors and its magnitude is proportional to the magnitudes of the vectors times the sine of the angle between them: DCM 12 Draft: §/17/2009