对基于四元数的飞机本体运动模型的改进  

Improvement to Quaternion-based Model of Rigid Aircraft Motion

作　　者：王军安[1] 

机构地区：[1]中航一集团第一飞机设计研究院,西安710089

出　　处：《系统仿真学报》2006年第z2期230-232,共3页Journal of System Simulation

摘　　要：现有的基于四元数的飞机本体运动方程没有完全消除欧拉角。本文推导了气流坐标系与机体坐标系的转换关系,尤其考虑了俯仰角为±90°时的情况。得到了以向量式表示的、完全消除欧拉角的飞机本体运动数学模型。该模型便于面向对象程序实现,并用于大姿态角飞行仿真。Existing quarternion-based model of rigid aircraft motion does not totally eliminate eular angles. The transformation between wind- and body-axes coordinate systems, especially for the case of near-vertical flight, was deduced. A new model of rigid aircraft motion, in form of vectors, eular angles totally eliminated, was proposed. The model can be easily realized by object-oriented language and used in near-vertical flight simulation.

关 键 词：欧拉角 四元数 六自由度 向量 动力学 运动学 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]