Methods of computing the transformation matrix associated with gimballess inertial measurement units
A 1965 NASA technical report by D. H. Burdeshaw on computing transformation matrices for gimballess inertial measurement units, written for aerospace engineers working on guidance systems. The line drawings show labeled three-axis coordinate frames with rotation arcs and Greek-letter angles, a cutaway gimballed gyro platform, and a launch vehicle tagged with body axes — usable as clean technical diagram stock.
