Direct Inversion of Rigid-Body Rotational Dynamics

In this paper, the global linearization (inversion) of rigid-body rotational dynamics is reviewed and representations in terms of quaternions and direction cosines are compared. Certain properties common to quaternions and direction cosines that make their use preferable to Euler angles and that simpify the inversion procedure are described. Applications of the inversion procedure for state estimation and attitude control are discussed. To avoid complexities caused by aerodynamics, an example of direct inversion for linear feedback control of spacecraft attitude is given.