This chapter discusses kinematics with application to local and terrestrial navigation. For marine craft moving in six degrees of freedom (DOFs), six independent coordinates are necessary to determine the position and orientation. When analyzing the motion of marine craft in 6 DOF, it is convenient to define two Earth‐centered coordinate frames. The chapter focuses on geographic reference frames, which includes: North‐East‐Down (NED), and BODY. It also discusses transformations between BODY and NED, and transformations between Earth‐centered Earth‐fixed (ECEF) and NED. The chapter also focuses on the transformations between BODY and FLOW. Flow axes are often used to express hydrodynamic data. The FLOW axes are found by rotating the BODY axis system such that resulting x axis is parallel to the freestream flow. The relationship between the angular variables course, heading and sideslip is important for maneuvering of a marine craft in the horizontal plane (3 DOF).

    hydrodynamics; manipulator kinematics; marine vehicles; navigation


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    Title :

    Kinematics


    Contributors:


    Publication date :

    2011-04-08


    Size :

    30 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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