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Appendix A: Nomenclature and Notation

APPENDIX A

Nomenclature and Notation

Nomenclature

• Unit vectors along the x, y, and z axes are denoted as i, j, and k, respectively.

• A coordinate frame is denoted by Images, and a superscript denotes the label of the frame. For example, Images is the inertial coordinate frame.

• Given a vector p image Images3, the expression of p in the coordinates of frame Images is denoted as pa.

• Given a vector p image Images3, the first, second, and third components of p expressed with respect to the coordinates of Images are denoted as Images, Images, and Images, respectively.

• A rotation matrix from frame Images to Images is denoted as Images.

• The transpose of a matrix M is denoted as MT.

• Differentiation of a scalar with respect to time is denoted by a “dot” (e.g., Images). Differentiation of a vector with respect to frame Images is denoted by Images.


  

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