On Formulas and Methods for Expressing the Attitude of a Rigid Body
In many fields of mechanics there is the need of expressing the attitude of a rigid body. This paper, summarizes and compares different approaches for such purpose. In particular, the following formulations will be considered:
1. Euler angles (different conventions);
2. Bryant angles;
3 .Cardan angles;
4. Euler parameters;
5. Cayley-Klein parameters.
The paper will also focus on the sensitivity to round-off error of a methodology for computing the attitude of a body through telemetry measurements.