| 用四元数描述飞行器姿态时的几个基本问题 |
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| 引用本文： | 范奎武.用四元数描述飞行器姿态时的几个基本问题[J].航天控制,2012,30(4):49-53. |
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| 作者姓名： | 范奎武 |
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| 作者单位： | 海军驻航天一院军代表室,北京,100076 |
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| 摘 要： | 讨论描述刚体空间姿态的欧拉—克雷洛夫角、方向余弦矩阵、四元数这三种方法,给出方向余弦矩阵与四元数之间关系的推导方法,推导并验证了合成转动四元数的求取方法,介绍了通过方向余弦矩阵推导四元数微分方程的方法。
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| 关 键 词： | 刚体 姿态 欧拉—克雷洛夫角 方向余弦矩阵 四元数 |
The Key Problems of Describing Rigid-Body Attitude by Using Quaternion |
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| FAN Kuiwu.The Key Problems of Describing Rigid-Body Attitude by Using Quaternion[J].Aerospace Control,2012,30(4):49-53. |
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| Authors: | FAN Kuiwu |
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| Institution: | FAN Kuiwu Representatives Office of Navy of CALT,Tianjin Bureau of Navy Equipment Office,Beijing 100076,China |
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| Abstract: | The three methods of describing rigid-body spatial attitude by using Euler-krylov angle,direction cosine matrix and quaternion are discussed firstly,then the derivation of relationship between direction cosine matrix and quaternion is presented,in which the algorithm method of resultant rotation quaternion is deduced and verified.Finally,the derivation method of quaternion differential equation by using direction cosine matrix is proposed in detail. |
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| Keywords: | Rigid-body Attitude Euler-krylov angle Direction cosine matrix Quaternion |
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