RVC3, RVC2, RVC1 ch. 2
Gimbal lock
- LMA790-3-LM Apollo operations handbook Fig 2.13 from my book is on page 44, and the vehicle’s coordinate frame is on page 16
- Consideration of Apollo IMU gimbal lock David Hoag (1963)
- Gimbal Angles, Gimbal Lock, and a Fourth Gimbal for Christmas Eric Jones & Paul Fjeld
Quaternions
- Animating rotation with quaternion curves Shoemake (1985). The classic paper on quaternion interpolation
- Hamilton, Rodrigues, and the quaternion scandal
Videos
- Transformation matrix FAST lab
Misc
- An Introduction to Inertial and Visual Sensing Corke, Lobo, Dias (2007)
- Build your own coordinate frame out of paper Build your own coordinate frame out of paper
- Print your own coordinate frame out of plastic!
- Build your own coordinate frame out of wood!
- Build your own 3D coordinate frame a printable frame to fold
Lie groups
- Pieter van Goor: Lie groups blog posts on SE(2), SL(2), quaternions as a Lie group and equivariant systems
- Lie groups for 2D and 3D transformations Ethan Eade; also as PDF