Higher order cayley transforms with applications to attitude representations Conference Paper uri icon


  • © 1996, American Institute of Aeronautics and Astronautics, Inc. In this paper we generalize some previous results on attitude representations using Cayley transforms. First, we show that proper orthogonal matrices, that naturally represent rotations, can be generated by a form of “conformal” analytic mappings in the space of matrices. Using a natural parallelism between the elements of the complex plane and the real matrices, we generate higher order Cayley transforms and we discuss some of their properties. These higher order Cayley transforms are shown to parameterize proper orthogonal matrices into higher order “Rodrigues” parameters.

author list (cited authors)

  • Tsiotras, P., Junkins, J. L., & Schaub, H.

publication date

  • January 1996