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Kinematics: Describing the Motions of Spacecraft
  • Level Expert
  • المدة 28 ساعات hours
  • الطبع بواسطة University of Colorado Boulder
  • Offered by

عن

The movement of bodies in space (like spacecraft, satellites, and space stations) must be predicted and controlled with precision in order to ensure safety and efficacy. Kinematics is a field that develops descriptions and predictions of the motion of these bodies in 3D space. This course in Kinematics covers four major topic areas: an introduction to particle kinematics, a deep dive into rigid body kinematics in two parts (starting with classic descriptions of motion using the directional cosine matrix and Euler angles, and concluding with a review of modern descriptors like quaternions and Classical and Modified Rodrigues parameters). The course ends with a look at static attitude determination, using modern algorithms to predict and execute relative orientations of bodies in space. After this course, you will be able to... * Differentiate a vector as seen by another rotating frame and derive frame dependent velocity and acceleration vectors * Apply the Transport Theorem to solve kinematic particle problems and translate between various sets of attitude descriptions * Add and subtract relative attitude descriptions and integrate those descriptions numerically to predict orientations over time * Derive the fundamental attitude coordinate properties of rigid bodies and determine attitude from a series of heading measurements

الوحدات

Professor Introduction and Spacecraft Dynamics Course Sequence Context

    • 2 Videos
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2 Videos

  • Professor Introduction
  • Kinematics Course Introduction

Particle Kinematics and Vector Frames

    • 3 Videos
    • 1 Assignment
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1 Assignment

  • Concept Check 1 - Particle Kinematics and Vector Frames

3 Videos

  • Module One: Particle Kinematics Introduction
  • 1: Particle Kinematics
  • Optional Review: Vectors, Angular Velocities, Coordinate Frames

Angular Velocities

    • 8 Videos
    • 2 Assignment
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2 Assignment

  • Concept Check 2 - Angular Velocities
  • Concept Check 3 - Vector Differentiation and the Transport Theorem

8 Videos

  • 2: Angular Velocity Vector
  • 3: Vector Differentiation
  • 3.1: Examples of Vector Differentiation
  • 3.2: Example of Planar Particle Kinematics with the Transport Theorem
  • 3.3: Example of 3D Particle Kinematics with the Transport Theorem
  • Optional Review: Angular Velocities, Coordinate Frames, and Vector Differentiation
  • Optional Review: Angular Velocity Derivative
  • Optional Review: Time Derivatives of Vectors, Matrix Representations of Vector

Rigid Body Kinematics

    • 2 Videos
    • 1 Assignment
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1 Assignment

  • Concept Check 1 - Rigid Body Kinematics

2 Videos

  • Module Two: Rigid Body Kinematics Part 1 Introduction
  • 1: Introduction to Rigid Body Kinematics

Directional Cosine Matrices

    • 6 Videos
    • 1 Readings
    • 4 Assignment
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4 Assignment

  • Concept Check 2 - DCM Definitions
  • Concept Check 3 - DCM Properties
  • Concept Check 4 - DCM Addition and Subtraction
  • Concept Check 5 - DCM Differential Kinematic Equations (ODE)

6 Videos

  • 2: Directional Cosine Matrices: Definitions
  • 3: DCM Properties
  • 4: DCM Addition and Subtraction
  • 5: DCM Differential Kinematic Equations
  • Optional Review: Tilde Matrix Properties
  • Optional Review: Rigid Body Kinematics and DCMs

1 Readings

  • Eigenvector Review

Euler Angles

    • 10 Videos
    • 5 Assignment
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5 Assignment

  • Concept Check 6 - Euler Angles Definitions
  • Concept Check 7 - Euler Angle and DCM Relation
  • Concept Check 8 - Euler Angle Addition and Subtraction
  • Concept Check 9 - Euler Angle Differential Kinematic Equations
  • Concept Check 10 - Symmetric Euler Angle Addition

10 Videos

  • 6: Euler Angle Definition
  • 7: Euler Angle / DCM Relation
  • 7.1: Example: Topographic Frame DCM Development
  • 8: Euler Angle Addition and Subtraction
  • 9: Euler Angle Differential Kinematic Equations
  • 10: Symmetric Euler Angle Addition
  • Optional Review: Euler Angle Definitions
  • Optional Review: Euler Angle Mapping to DCMs
  • Optional Review: Euler Angle Differential Kinematic Equations
  • Optional Review: Integrating Differential Kinematic Equations

Principal Rotation Vectors

    • 5 Videos
    • 3 Assignment
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3 Assignment

  • Concept Check 1 - Principal Rotation Definitions
  • Concept Check 2 - Principal Rotation Parameter relation to DCM
  • Concept Check 3 - Principal Rotation Addition

5 Videos

  • Module Three: Rigid Body Kinematics Part 2 Introduction
  • 1: Principal Rotation Parameter Definition
  • 2: PRV Relation to DCM
  • 3: PRV Properties
  • Optional Review: Principal Rotation Parameters

Euler Parameters (Quaternions)

    • 6 Videos
    • 4 Assignment
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4 Assignment

  • Concept Check 4 - Euler Parameter Definitions
  • Concept Check 5, 6 - Euler Parameter Relationship to DCM
  • Concept Check 7 - Euler Parameter Addition
  • Concept Check 8 - EP Differential Kinematic Equations

6 Videos

  • 4: Euler Parameter (Quaternion) Definition
  • 5: Mapping PRV to EPs
  • 6: EP Relationship to DCM
  • 7: Euler Parameter Addition
  • 8: EP Differential Kinematic Equations
  • Optional Review: Euler Parameters and Quaternions

Classical Rodrigues Parameters (CRPs)

    • 7 Videos
    • 4 Assignment
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4 Assignment

  • Concept Check 9 - CRP Definitions
  • Concept Check 10 - CRPs Stereographic Projection
  • Concept Check 11, 12 - CRP Addition
  • Concept Check 13 - CRP Differential Kinematic Equations

7 Videos

  • 9: Classical Rodrigues Parameters Definitions
  • 10: CRP Stereographic Projection
  • 11: CRP Relation to DCM
  • 12: CRP Addition and Subtraction
  • 13: CRP Differential Kinematic Equations
  • 14: CRPs through Cayley Transform
  • Optional Review: CRP Properties

Modified Rodrigues Parameters (MRPs)

    • 9 Videos
    • 6 Assignment
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6 Assignment

  • Concept Check 15 - MRPs Definitions
  • Concept Check 16 - MRP Stereographic Projection
  • Concept Check 17 - MRP Shadow Set
  • Concept Check 18 - MRP to DCM Relation
  • Concept Check 19 - MRP Addition and Subtraction
  • Concept Check 20 - MRP Differential Kinematic Equation

9 Videos

  • 15: Modified Rodrigues Parameters Definitions
  • 16: MRP Stereographic Projection
  • 17: MRP Shadow Set Property
  • 18: MRP to DCM Relation
  • 19: MRP Addition and Subtraction
  • 20: MRP Differential Kinematic Equation
  • 21: MRP Form of the Cayley Transform
  • Optional Review: MRP Definitions
  • Optional Review: MRP Properties

Stereographic Orientation Parameters

    • 2 Videos
    • 1 Assignment
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1 Assignment

  • Concept Quiz 22 – SOPs

2 Videos

  • 22: Stereographic Orientation Parameters Definitions
  • Optional Review: SOPs

Attitude Determination Overview

    • 2 Videos
    • 1 Assignment
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1 Assignment

  • Concept Check 1 - Attitude Determination

2 Videos

  • Module Four: Static Attitude Determination Introduction
  • 1: Attitude Determination Problem Statement

Methods for Attitude Determination

    • 11 Videos
    • 4 Assignment
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4 Assignment

  • Concept Check 2 - TRIAD Method
  • Concept Check 3, 4 - Devenport's q-Method
  • Concept Check 5 - QUEST Method
  • Concept Check 6 - OLAE Method

11 Videos

  • 2: TRIAD Method Definition
  • 2.1: TRIAD Method Numerical Example
  • 3: Wahba's Problem Definition
  • 4: Devenport's q-Method
  • 4.1: Example of Devenport's q-Method
  • 5: QUEST
  • 5.1: Example of QUEST
  • 6: Optimal Linear Attitude Estimator
  • 6.1: Example of OLAE
  • Optional Review: Attitude Determination
  • Optional Review: Attitude Estimation Algorithms

Kinematics Final Assignment

    • 1 PeerReview
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1 Peer Review

  • Kinematics Final Assignment

Auto Summary

Explore the intricate world of spacecraft motion with the expert-level course "Kinematics: Describing the Motions of Spacecraft" on Coursera. Dive into particle and rigid body kinematics, learn to predict and control spacecraft movement, and master modern techniques like quaternions and Rodrigues parameters. This comprehensive 1680-minute course is perfect for those seeking to enhance their knowledge in space motion prediction and control, available through a Starter subscription. Ideal for advanced learners aiming to excel in space dynamics.

Hanspeter Schaub
Instructor

Hanspeter Schaub