圆锥运动及其影响的3种描述方法  

Three descriptions of coning motion and its influence

作　　者：余杨[1] 张洪钺[1] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100191

出　　处：《北京航空航天大学学报》2008年第8期956-960,共5页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家安全重大基础研究资助项目(61334)

摘　　要：从旋转矢量方法、欧拉角方法及刚体有限转动方法出发对圆锥运动及其影响进行了阐述,得到了各方法下的等效陀螺漂移公式以及三者之间的关系;并对圆锥补偿算法在每种方法下的补偿效果进行了研究.结果表明:刚体有限转动方法与旋转矢量方法是完全等价的,欧拉角方法仅在小角度振动情况下与它们等价;圆锥补偿算法在旋转矢量方法和欧拉角方法下均有效,并在振动角较小时补偿效果一致.旋转矢量方法和刚体有限转动方法重点在于圆锥补偿算法的开发,而欧拉角方法重点则在于指导圆锥运动转台实验设计以验证圆锥补偿算法.Basing on rotation vector method, Euler angles method and finite rotations method, the coning motion and its influence were discussed. Then the expressions of equivalent gyro drift in each method and their relationship were obtained. At last compensate precision of two-intervals coning compensate algorithm was re- searched in each method. The results show that finite rotations method and rotation vector method are equiva- lent absolutely. Euler angles method and rotation vector method are equivalent only when oscillation angles are small. Coning compensate algorithms are effectual both in rotation vector method and Euler angles method, and besides, compensate precisions are equivalent when oscillation angles are small. Rotation vector method and finite rotations method can be used to design coning compensation algorithms and Euler angles method can be used to design the test of the coning motion.

关 键 词：圆锥运动 等效陀螺漂移 旋转矢量 欧拉角 有限转动 

分 类 号：U666.1[交通运输工程—船舶及航道工程]