
Applied Math Applied Math Forum 
 LinkBack  Thread Tools  Display Modes 
December 19th, 2012, 02:41 AM  #1 
Newbie Joined: Dec 2012 Posts: 4 Thanks: 0  Reverse Quaternion Kinematics equations. BVP?
Hi all! I'm programming an attitude estimation and control algorithm for a satellite. So I need a reference "trayectory" for my control system to try to follow. The generation of that attitude profile is tricky: point to the sun, if sat has access to a certain city, point to it, the point again to the sun... and so on. So I've managed to make a q(t) to make all that possible, but I need the angular velocities that yield that reference attitude quaternion as a function of time. While I have already figured out a way to get them, they are not perfectly mathematically calculated, showing some nasty discontinuities at certain times, where transition maneuvers between an initial and final attitude quaternions take place. So, the problem is, given the quaternion kinematic equations: and the initial and final quaternion what is ? I think the problem would be a boundary value problem, but I don't really know. Does anyone can point me in the right direction?? maybe a matlab supereasy command ? On a sidenote: since we are dealing with attitude quaternions, they are constrained to be (which doesn't apply to BTW), just in case it helps... Thanks in advance!! PS: This is a duplicate thread, because I posted this in the wrong forum in the first place... 
December 19th, 2012, 02:58 AM  #2 
Newbie Joined: Dec 2012 Posts: 4 Thanks: 0  Re: Reverse Quaternion Kinematics equations. BVP?
Sorry I forgot, I also have initial and final conditions for !!!


Tags 
bvp, equations, kinematics, quaternion, reverse 
Thread Tools  
Display Modes  

Similar Threads  
Thread  Thread Starter  Forum  Replies  Last Post 
Reverse Quaternion Kinematics equations. BVP?  zuba  Calculus  1  December 18th, 2012 06:20 AM 
reverse n  vdrn  Number Theory  28  October 22nd, 2011 04:07 PM 
Quaternion conversion and rotation order.  Manux  Applied Math  2  July 13th, 2010 05:30 AM 
Quaternion to rotation matrix problem...  viewon01  Algebra  0  April 28th, 2010 11:20 PM 
more quaternion stuff lol :)  nooblet  Number Theory  0  April 22nd, 2009 08:23 PM 