Chapter 4
Figure 4.2: The Euler angles Ψ, Θ, and Φ determine the orientation of the body axes of a flight vehicle. (a) Yaw rotation about z-axis, nose right; (b) Pitch rotation about y-axis, nose up; (c) Roll rotation about x-axis, right wing down. The orientation of the body axis system is specified by starting with the inertial system, then, in
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