基于四元数的导弹全方位姿态运动误差研究  

Missile Omnidirectional Attitude Motion Errors Based on Quaternion

作　　者：刘忠[1] 梁晓庚[2] 贾晓洪[2] 曹秉刚[1] 

机构地区：[1]西安交通大学机械电子工程系,西安710049 [2]中国空空导弹研究院,河南洛阳471009

出　　处：《弹道学报》2006年第2期5-8,14,共5页Journal of Ballistics

基　　金：航空科学基金项目(03D12004)

摘　　要：基于四元数误差分析的方法，研究了导弹姿态扰动情况下全方位运动的误差问题．通过研究扰动对姿态角和四元数转挟精度的影响，提出了姿态角和四元数的全方位转换算法．该算法采用象限分析的措施，避免了传统转换算法在姿态干扰的情况下易发生振荡的问题，将姿态角和四元数的转换范围从-90°～90°空间拓展到-180°～180°空间，使基于全角度算法的姿态控制与非全角度算法相比有抗扰动的能力．仿真结果表明了全角度算法的正确性和抗扰动的能力．Errors of the omnidirectional attitude motion of missile were studied based on error quaternion method. A new algorithm was presented to realize omnidirectional quaternion-attitude Euler angle transformation through the study of influence of missile attitude disturbances on transformation. Quadrant analysis was used in the new algorithm to avoid oscillation of transforming angles that happened in traditional algorithm when attitude disturbances exist. The study shows that the oscillation affects attitude control precision largely. By using this new algorithm, transforming range between quaternion and Euler angle is extended from the -90°-90° tradition range to the -180°-180°tradition range, which is essential to modern agile missile. Simulation shows that the transforming precision of the new algorithm is better than the traditional one and it guarantees right transforming results even under perturbation conditions.

关 键 词：误差四元数 姿态扰动 四元数欧拉角转换 全方位姿态运动 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术] TJ761[自动化与计算机技术—计算机科学与技术]