Higher-Order Cayley Transforms with Applications to Attitude Representations Academic Article uri icon


  • We generalize previous results on attitude representations by using Cayley transforms. First, we show that proper orthogonal matrices, which 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 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.

citation count

  • 41

publication date

  • May 1997