By Peter Cooksley, Joe Sewell, Don Greer
Outfitted and operated in huge numbers by means of the British Royal Flying Corps in the course of WWI. Used as warring parties, reconnaissance plane, artillery spotters & bombers. Over a hundred pictures, forty element drawings, 2 pages of scale drawings, thirteen full-color work. 50 pages.
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The quaternion attitude representation allows a transformation from one co-ordinate frame to another to be effected by a single rotation about a vector defined in the reference frame. The quaternion is a four-element vector representation, the elements of which are functions of the orientation of this vector and the magnitude of the rotation. •* A gimbal is a rigid mechanical frame which is free to rotate about a single-axis to isolate it from angular motion in that direction. A stable platform can be isolated from body motion if supported by three such frames with their axes of rotation nominally orthogonal to each other.
3. A correction for the centripetal acceleration of the vehicle, resulting from its motion over the Earth's surface. For instance, a vehicle moving due east over the surface of the Earth will trace out a circular path with respect to inertial axes. To follow this path, the vehicle is subject to a force acting towards the centre of the Earth of magnitude equal to the product of its mass, its linear velocity and its turn rate with respect to the Earth. 4. Compensation for the apparent gravitational force acting on the vehicle.
2. Euler angles. A transformation from one co-ordinate frame to another is defined by three successive rotations about different axes taken in turn. 20 3. -90° Pitch 90° Yaw 90° Pitch Net rotation -90° Roll Illustration of effect of order of body rotations appreciation. The three angles correspond to the angles which would be measured between a set of mechanical gimbals,3 which is supporting a stable element, where the axes of the stable element represent the reference frame, and with the body being attached via a bearing to the outer gimbal.
BE2 in action by Peter Cooksley, Joe Sewell, Don Greer