Body Frame Inertia Matrix
Let the body frame inertia matrix relative to the center of mass be denoted, and define the orientation of the body frame relative to the inertial frame by the rotation matrix, such that,
where vectors y in the body fixed coordinate frame have coordinates x in the inertial frame. Then, the inertia matrix of the body measured in the inertial frame is given by
Notice that changes as the body moves, while remains constant.
Read more about this topic: Inertia Tensor, Moment of Inertia Reference Frames
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