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IED
science forum beginner

Joined: 07 Jul 2006
Posts: 1

Posted: Fri Jul 07, 2006 7:56 pm    Post subject: 3D motion of an Object

Hope this might be the right place to ask and is not to stupid a question

I am going to need to reconstruct the relative movement of an object in 3D
global space
I will have recorded samples of the linear accelerations and rotational
rates of the object based around its local orthogonal axis at a reasonable
sample period
i.e.
I will have for-aft (Gx), left-right(Gy) and up-down (Gz) linear
accelerations together with Pitch rate (around y axis), Roll rate (around x
axis) and Yaw rate (around z axis) every 1 mSec with all axis relative to
the object.

The object is free to rotate or move in any axis

If the object was not free to rotate (so that its local axis stayed aligned
with a global axis) then I know I could integrate the linear accelerations
in each axis to get a velocity in each axis and then integrate again to get
a position in each axis, therefore being able to track the linear motion.

I also know that I could integrate each rotational rate about an axis to get
an angle of rotation about that axis and thus track the rotational movement.

Where I come completely unstuck is how to bring the two together when the
object can both rotate and move.
i.e. as the object rotates, its local axis becomes misaligned with the
global axis, so how do I track the position in a fixed reference space.

I have searched around on the internet, and seen some quite in depth
articles on dynamics but I find them impossible to follow.
Would appreciate some help and maybe some simple to follow equations or
links

TIA

IED
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