Cayley Family of Attitude Coordinates Academic Article uri icon


  • A generalized Cayley transform relationship between orthogonal orientation matrices and skew-symmetric matrices has been introduced. This generalized transform depends on a scalar parameter that can be manipulated to generate a (Cayley) family of attitude coordinates in three-dimensional space. One class of Cayley attitude coordinates, the IPs, is special. The IPs removes the need of shadow parameters and switching logic when parameterizing orientation. They are are a natural partition and recollection of the traditional modified Rodrigues parameters and their shadows.

published proceedings

  • Journal of Guidance, Control, and Dynamics

author list (cited authors)

  • Hurtado, J. E.

citation count

  • 4

complete list of authors

  • Hurtado, John E

publication date

  • January 2010