AV411 : Navigation Systems and Sensors - Assignment 1

Akshaj Jangiti - SC18B129

October 15, 2021

1 Angle and Axis of Rotation

1.1 Problem Statement

If the unit vector →
−
v is a rotation axis and φ is the angle of rotation then prove that the
rotated basis vectors are related to original basis by the following rotation matrix.
 
v12 + (v22 + v32 )cosφ v1 v2 (1 − cosφ) − v3 sinφ v1 v3 (1 − cosφ) + v2 sinφ
v1 v2 (1 − cosφ) + v3 sinφ v22 + (v32 + v12 )cosφ v2 v3 (1 − cosφ) − v1 sinφ
v1 v3 (1 − cosφ) − v2 sinφ v2 v3 (1 − cosφ) + v1 sinφ v32 + (v12 + v22 )cosφ

1.2 Solution
Let →
−u = l~I+m~J+nK ~ be a unit vector along the axis of rotation and it is given that the angle
of rotation is φ. Let ~i,~j,~k be the basis for the rotated frame. So finding rotation matrix is
now same as finding the DCM matrix from ~I,~J,K ~ to ~i,~j,~k

We can achieve the above transformation in 3 steps -

~ to ~u (3D Rotation)
1. Shift K
2. Now rotate an angle φ about the new z-axis (i.e.~u)
3. Reverse the step 1
The rotation matrix A is : A = QRz (φ)QT
   
  I   i
v1 v2 v3  J = v1 v2 v3 [A] j 
 
K k

We basically need to find the rotation matrix [A]

    
v1 Q11 Q12 Q13 0
v2  = Q21 Q22 Q23  0
v3 Q31 Q32 Q33 1

1
 From the above matrix equation we get Q13 = v1 , Q23 = v2 and Q33 = v3 . Also for
rotation along z-axis we know that -
 
cos(φ) sin(φ) 0
Rz (φ) = −sin(φ) cos(φ) 0
0 0 1
   
Q11 Q12 Q13 cos(φ) sin(φ) 0 Q11 Q21 Q31
QRz QT = Q21 Q22 Q23  −sin(φ) cos(φ) 0 Q12 Q22 Q32 
Q31 Q32 Q33 0 0 1 Q13 Q23 Q33
   
Q11 Q12 v1 cos(φ) sin(φ) 0 Q11 Q21 Q31
QRz QT = Q21 Q22 v2  −sin(φ) cos(φ) 0 Q12 Q22 Q32 
Q31 Q32 v3 0 0 1 v1 v2 v3
 
A11 A12 A13
QRz QT = A21 A22 A23 
A31 A32 A33

On simplifying the matrix multiplication, we get -

A11 = Q211 cosφ + Q11 Q12 sinφ − Q11 Q12 sinφ + Q212 cosφ + v12