四元数法在AUV六自由度仿真中的应用  

Application of quaternion method to the six-DOF simulation of autonomous underwater vehicle (AUV)

作　　者：吴小平[1] 冯正平[1] 朱继懋[1] 

机构地区：[1]上海交通大学船舶海洋与建筑工程学院,上海200030

出　　处：《船舶工程》2007年第1期9-12,共4页Ship Engineering

摘　　要：AUV六自由度仿真几乎无一例外都是基于欧拉角方法来求解运动微分方程,这种方法可以很直观地得到AUV的位置和姿态角,不过在纵倾角±90°的情况下会产生奇异点,使仿真无法进行下去.为克服上述不足,采用了四元数法取代欧拉法.仿真结果表明,四元数法可以进行任意角度的仿真.Due to its advantages of describing autonomous underwater vehicle （AUV）＇s attitude angle and position in a simple and direct way, Euler angle representation has been extensively applied to solve the differentiating equation of .4 UV＇s six-DOF motion. Howevr, this representation is undefined for a pitch angle of ± 90 degree and will lead to the simulation cannot be done at those angles.An alternative to avoid such singularities is to apply the quaternion representation. Computer simulations are shown to demonstrate its improvement over Euler angle representation by achieving the satisfactory performances with arbitrary angles.

关 键 词：机器人 自治水下机器人 四元数法 六自由度 计算机仿真 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]