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修正Rodrigues参数在飞行器定姿中的应用(英文) 总被引:2,自引:0,他引:2
Chen Jizheng Yuan Jianping Fang Qun College of Astronautics Northwestern Polytechnical University Xi’an China 《中国航空学报》2008,21(5):433-440
There are two attitude estimation algorithms based on the different representations of attitude errors when modified Rodrigues parameters are applied to attitude estimation. The first is multiplicative error attitude estimator (MEAE), whose attitude error is expressed by the modified Rodrigues parameters representing the rotation from the estimated to the true attitude. The second is subtractive error attitude estimator (SEAE), whose attitude error is expressed by the arithmetic difference between the true and the estimated attitudes. It is proved that the two algorithms are equivalent in the case of small attitude errors. It is possible to describe rotation without encountering singularity by switching between the modified Rodrigues parameters and their shadow parameters. The attitude parameter switching does not bring disturbance to MEAE, but it does to SEAE. This article introduces a modification to eliminate the disturbance on SEAE, and simulation results demonstrate the efficacy of the presented algorithm. 相似文献
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朴盛晙 《沈阳航空工业学院学报》2006,23(1):32-34
为了将人体模型运用于汽车开发,引入了损失函数的概念并开发了姿势函数。有关姿势的‘损失’是测定各种姿势下所感到的不适度而给出的定义。按膝盖、臀部(身躯)、肩膀、肘部4个关节各导出了损失函数,而且为了预测驾驶员可能综合地感到的姿势不适度以各个损失函数值为独立变量导出了姿势函数。在对姿势不适度的推定正确度方面评价导出函数的适应性结果,已确认了能得出与实际值非常相似的值,有望应用于车辆的设计。 相似文献
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为研究水平冲击下不同参数对于头排乘员损伤的影响及不同保护姿势的保护效果。首先进行水平16g动态冲击试验,建立相应的数值模型,验证模型有效性;其次通过正交试验设计进行参数研究,揭示头排座椅间距、安全带刚度、隔板刚度、安全带固定点位置对于乘员损伤的影响;最后研究直立式、抱脚式、手顶式3种姿势对于头排乘员的保护效果。结果表明头排座椅间距以及隔板刚度对乘员头部损伤影响显著;头排乘员头部、颈部、股骨、胫骨损伤对安全带材料特性及安全带固定点位置不敏感;抱脚式、手顶式保护姿势均对头排乘员头部有较好的保护效果。在水平冲击下采用头部前倾的抱脚式保护姿势可使头排乘员头部、颈部、股骨及胫骨损伤均小于限定值。 相似文献
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