用凯里-克莱因参数计算载体姿态的新方法*
A New Method for Calculating Vehicle Attitude Using Cayley-Klein Parameters
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摘要: 本文用凯里-克莱因参数的新矩阵来表示刚体连续几个有限转动的合成,导出这种矩阵乘法可易性的一般规则,并用此法简便地证明了刚体有限转动定理.文中所得结论简明、易记,对计算载体姿态具有实用价值.Abstract: In this paper new matrices of the Cayley-Klein parameters are used to represent composition of several consecutive finite rotations of rigid body. The general commutative rules of multiplication for these matrices is obtained. Furthermore, by using these matrices it is convenient to prove the theorem on finite rotation of rigid body. The result obtained in this paper is concise and easy to remember, and can be used to calculate vehicle attitude.
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Key words:
- Cayley-Kiein parameters /
- rigid body /
- finite rotation /
- vehicle attitude
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[1] Ickes,B.P.,Anew method for performing digital control system aittitude computation using quaternios,AIAA.,8(1)(1970). [2] 肖尚彬,四元数矩乘法及其可易性,力学学报.16(2)(1984),150-166. [3] 张光枢,刚体有限转动合成的可交换性,力学学报,4(1982),361-388. [4] Beggs,J.S Pestel's theorem on finite rotions,ACTA,Mechanica,20(1974)1-2. -
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