Ship Manoeuvring and Control

Lecture #2 – Kinematics

Dr. Lúcia Moreira

Centre for Marine Technology and Ocean Engineering (CENTEC)
Instituto Superior Técnico, Universidade de Lisboa
Lisboa, Portugal
lucia.moreira@centec.tecnico.ulisboa.pt 14/11/2023

Centre for Marine Technology and Ocean Engineering

Summary
2.1 Kinematic Preliminaries
2.2 Transformations between BODY and NED
2.3 Transformations between ECEF and NED
2.4 Transformations between ECEF and Flat-Earth
Coordinates

The study of dynamics can ve divided into 2 parts:

- Kinematics: which treats only geometrical aspects of motion;
- Kinetics: wich is the analysis of the forces causing the motion.

Overall Goal of Lectures 2 up to 8:

To represent the 6-DOF equations of motion in a compact matrix-vector form according
to:

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In the end of this lecture we should:
1. Understand the geographic reference frame NED, the Earth-centered
reference frame ECEF and the body-fixed reference frame BODY;
2. Be able to write down the differential equations relating BODY velocities to
NED positions, both for Euler angles and unit quaternions;
3. Be able to:
• Transform ECEF positions (xe, ye, ze) to longitude, latitude, height and vice
versa;
• Transform longitude, latitude, height to flat-Earth positions (xn, yn, zn) and
vice versa;
4. Be able to define and visualize:
• Sideslip angle ;
• Drift angle c;
• Heading angle ;
• Course angle .
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Six-Degrees Of Freedom (DOFs) Motions
BODY NED

Forces and Linear and Positions and

DOF moments angular velocities Euler angles
1 Motions in the xb-direction (surge) X u xn

2 Motions in the yb-direction (sway) Y v yn

3 Motions in the zb-direction (heave) Z w zn

4 Motions in the xb-axis (roll) K p 

5 Motions in the yb-axis (pitch) M q 

6 Motions in the zb-axis (yaw) N r 

The notation is adopted from 1.

1 SNAME (1950). The Society of Naval Architects and Marine Engineers.
Nomenclature for Treating the Motion of a Submerged Body Through a Fluid,
Technical and Research Bulletin Nº 1-5.
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Generalized Coordinates

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Vector Notation 2

2 Fossen, T.I. (2021). Handbook of Marine Craft Hydrodynamics and Motion Control, 2nd Edition, Wiley.

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Summary: 6-DOFs Vectors

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Reference Frames – Earth-Centered Reference Frames

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Reference Frames – Geographic Reference Frames (Tangent Planes)

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Reference Frames – Body-Fixed Reference Frames

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Body-Fixed Reference Points

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Transformations between BODY and NED (1/3)

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Transformations between BODY and NED (2/3)

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Transformations between BODY and NED (3/3)

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Euler Angle Transformation (1/6)

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Euler Angle Transformation (2/6)

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Euler Angle Transformation (3/6)

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Euler Angle Transformation (4/6)

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Euler Angle Transformation (5/6)

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Euler Angle Transformation (6/6)

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Unit Quaternions (1/7)

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Unit Quaternions (2/7)

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Unit Quaternions (3/7)

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Unit Quaternions (4/7)

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Unit Quaternions (5/7)

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Unit Quaternions (6/7)

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Unit Quaternions (7/7)

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Unit Quaternion from Euler Angles

NASA Mission Planning and Analysis Division (1977). "Euler Angles, Quaternions, and Transformation Matrices" (PDF).
NASA.
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Unit Quaternion from Euler Angles

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Euler Angles from a Unit Quaternion

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Euler Angles from a Unit Quaternion

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Transformation between ECEF and NED

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Longitude and Latitude Transformations

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Longitude/Latitude from ECEF Coordinates (1/3)

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Longitude/Latitude from ECEF Coordinates (2/3)

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Longitude/Latitude from ECEF Coordinates (3/3)

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ECEF Coordinates from Latitude/Longitude (1/2)

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ECEF Coordinates from Latitude/Longitude (2/2)

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Transformations between ECEF and Flat-Earth Coordinates

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Longitude, Latitude and Height from Flat-Earth Coordinates

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Smallest Signed Angle: Smallest Difference between 2 Angles

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Flat-Earth Coordinates from Longitude, Latitude and Height

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Definitions of Course, Heading and Drift Angles

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Drift Angle (Amplitude-Phase Form)

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Extension to Ocean Currents: Slideslip Angle

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Slideslip Angle

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Definitions of Course, Heading, Drift and Slideslip Angles

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Drift Angle versus Slideslip Angle (1/2)

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Drift Angle versus Slideslip Angle (2/2)

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Bibliography
Fossen, T.I. (1994). Guidance and Control of Ocean Vehicles (1st ed.), Wiley.

Fossen, T.I. (2011). Handbook of Marine Craft Hydrodynamics and Motion Control (1st ed.), Wiley.

Fossen, T.I. (2021). Handbook of Marine Craft Hydrodynamics and Motion Control, (2nd ed.), Wiley.

NASA Mission Planning and Analysis Division (1977). "Euler Angles, Quaternions, and
Transformation Matrices" (PDF). NASA.

SNAME (1950). The Society of Naval Architects and Marine Engineers. Nomenclature for Treating the
Motion of a Submerged Body Through a Fluid, Technical and Research Bulletin Nº 1-5.

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 Next Lecture:

Rigid-Body Kinetics
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