In this paper the alternate forms of the relative attitude kinematics and relative dynamics equations are presented. These developments are different from the earlier developments that have been presented in other publications. The current forms of equations have the advantage of being simpler than earlier ones. These equations are applied in developing the necessary kinematics and dynamics for relative navigation in formation flying and nonlinear output feedback control for large attitude angle acquisition and tracking. This paper presents simulations form such a full state feedback control application.%这篇论文系统地给出了相对姿态运动学和动力学方程的另外形式,是前篇文章的补充,其结果的表达也更加简洁.这些方程可方便地用来描述编队飞行和虚拟平台相对导航中的运动学和动力学关系,也可以用来实现大姿态获取和跟踪时的非线性全状态反馈控制或非线性输出反馈控制.论文最后给出了基于该方程在全状态反馈控制应用中的数值仿真结果.
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