Attitude and Rotation Confusion #1032
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Hi everybody, we are very happy to have found Basilisk for our satellite simulations. However, we have some trouble understanding what attitude or rotation is given by messaging.SCStatesMsgReader().sigma_BN Is it the rotation from inertial frame to body frame (as indicated by the BN name) or is it the rotation from body to inertial frame as indicated by Basilisk-IMU-20170712-1.pdf. I would appreciate the help! |
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Hello there,
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Hello there,
sigma_BN
is the 3x1 Modified Rodrigues Parameters (MRP) vector parameterizing the [BN] direction cosine matrix (DCM). [BN] converts N-frame vector coordinates into the B frame, as inBasilisk.utilities.RigidBodyKinematics
provides the so-calledMRP2C
function that returns the DCM parameterized by the provided MRP set. A C-equivalent is also provided in the Basilisk code base.