刚体姿态仿真方法研究

首先论述了姿态描述的四种方法:欧拉角、欧拉轴旋转参数、方向余弦和四元数法,重点介绍了四元数法在飞行器运动学上的应用,它消除了欧拉方程的奇异性,计算效率也远远优于其他三种方法;最后讨论了数值仿真的方法及误差。

A Study on the Methods of Rigid - Body Attitude Representations

A detailed survey is presented of the methods of rigid-body attitude representation, including Euler angles, the Euler-axis rotation parameters, the direction cosines and the Euler-Rodrigues quaternion. The emphasis is on the application of quaternion to the aircraft kinematics, which removes the singularity in the Euler angles formulation and the Euler angles formulation and is superior to the other methods based on computation efficiency alone. The methods and errors of numerical integration are discussed in the end.