旋转矢量在高动态全姿态飞行器运动方程中的应用

doi:10.3969/j.issn.1000-1093.2016.03.008

兵工学报 ›› 2016, Vol. 37 ›› Issue (3): 439-446.doi: 10.3969/j.issn.1000-1093.2016.03.008

旋转矢量在高动态全姿态飞行器运动方程中的应用

王红辉^1,2，杨绍卿¹，吴成富²，郝峰¹，车晓涛¹

（1.西安现代控制技术研究所，陕西西安 710065；2.西北工业大学自动化学院，陕西西安 710072）

收稿日期:2015-07-02 修回日期:2015-07-02 上线日期:2016-05-24
通讯作者: 王红辉 E-mail:wanggh06@outlook.com
作者简介:王红辉（1985—），男，博士后
基金资助:
总装备部预先研究项目（1020702）；陕西省博士后科研项目（2015年）

Application of Rotating Vector in Equations of Motion for All-attitude Aircrafts

WANG Hong-hui^1,2， YANG Shao-qing¹， WU Cheng-fu²， HAO Feng¹, CHE Xiao-tao¹

(1.Xi’an Modern Control Technology Research Institute，Xi’an 710065，Shaanxi，China；2.School of Automation，Northwestern Polytechnical University，Xi’an 710072，Shaanxi，China）

Received:2015-07-02 Revised:2015-07-02 Online:2016-05-24
Contact: WANG Hong-hui E-mail:wanggh06@outlook.com

摘要/Abstract

摘要： 基于旋转矢量是表示角位置变化所对应的等效旋转而不是角位置本身这一基本思想，同时借鉴旋转矢量在捷联惯性导航算法中的应用，建立了将旋转矢量应用于高动态全姿态飞行器运动方程的数学框架。既克服了欧拉角法不适于全姿态解算的缺点，同时，相比于四元数法又提高了高动态角运动情况下姿态解算的效率。对旋转矢量法、四元数法和欧拉角法在数值解算中的不可交换误差进行了分析。据此，针对单通道具有高动态特性的轴对称飞行器，建立了基于准弹体系的旋转矢量法，提高了解算效率。基于某型滚转导弹运动方程的数字仿真表明了旋转矢量法在姿态解算中的有效性和广泛性。基于旋转矢量是表示角位置变化所对应的等效旋转而不是角位置本身这一基本思想，同时借鉴旋转矢量在捷联惯性导航算法中的应用，建立了将旋转矢量应用于高动态全姿态飞行器运动方程的数学框架。既克服了欧拉角法不适于全姿态解算的缺点，同时，相比于四元数法又提高了高动态角运动情况下姿态解算的效率。对旋转矢量法、四元数法和欧拉角法在数值解算中的不可交换误差进行了分析。据此，针对单通道具有高动态特性的轴对称飞行器，建立了基于准弹体系的旋转矢量法，提高了解算效率。基于某型滚转导弹运动方程的数字仿真表明了旋转矢量法在姿态解算中的有效性和广泛性。

关键词: 飞行器控制、导航技术, 旋转矢量, 欧拉角, 四元数, 高动态, 全姿态

Abstract: A mathematical framework to apply a rotation vector in the equations of motion for all-attitude aircrafts is established based on the basic idea of that the rotation vector is to express an equivalent rotation corresponding to the change in angular position rather than the angular position. This idea is stimulated by the rotating vector in the strapdown attitude algorithm. The rotation vector method is available for all-attitude solution while the Euler angle method is not. Meanwhile, compared with the quaternion method, the rotation vector method can improve the efficiency of attitude solution. The non-commutative errors in the rotation vector method, the quaternion method and the Euler angle method are analyzed in detail. A rotation vector method based on the quasi-body frame is developed to improve the efficiency of attitude solution for axial-symmetry aircrafts of which a single channel has high dynamic characteristics. The digital simulations based on the equations of motion for some rolling missile show the effectiveness and generality of the rotation vector method.

Key words: control and navigation technoogy of aerocraft, rotation vector, Euler angle, quaternion, high-dynamic, all-attitude

中图分类号:

TJ765.1

王红辉，杨绍卿，吴成富，郝峰，车晓涛. 旋转矢量在高动态全姿态飞行器运动方程中的应用[J]. 兵工学报, 2016, 37(3): 439-446.

WANG Hong-hui， YANG Shao-qing， WU Cheng-fu， HAO Feng, CHE Xiao-tao. Application of Rotating Vector in Equations of Motion for All-attitude Aircrafts[J]. Acta Armamentarii, 2016, 37(3): 439-446.

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旋转矢量在高动态全姿态飞行器运动方程中的应用

Application of Rotating Vector in Equations of Motion for All-attitude Aircrafts

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