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首页> 外文会议>International Conference on Mechanical Engineering and Mechanics vol.1; 20051026-28; Nanjing(CN) >The Application of a New Omnidirectional Transformation Algorithm of Quaternion in Attitude Control of Six-degree Freedom Rigid Body
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The Application of a New Omnidirectional Transformation Algorithm of Quaternion in Attitude Control of Six-degree Freedom Rigid Body

机译：新的四元数全向变换算法在六自由度刚体姿态控制中的应用

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摘要

The attitude control of a rigid body is often in the way of Quaternion differential equation. The control accuracy in quaternion method is related to the precision of transformation between quaternion and Euler angle, especially to boundary transformation. In this paper, a new algorithm to realize Omnidirectional transformation is presented. It is deduced from the boundary error analyses of traditional transformation. Using this new algorithm, the attitude of rigid body can be described in four quadrants, so the transformation precision is greatly increased, which also improves on accuracy of attitude control in quaternion method. Compared with traditional algorithm, another salient feature of the new algorithm is that disturbances of rigid body attitude are quantitatively considered by means of 'error quaternion' and attitude information included in elements of Euler angle direction cosine matrix is utilized in the new algorithm, so it will guarantee the right transforming result even under perturbation condition.
机译：刚体的姿态控制通常采用四元数微分方程的方式。四元数方法的控制精度与四元数和欧拉角之间的转换精度有关，特别是与边界转换有关。本文提出了一种实现全方位转换的新算法。它是从传统转换的边界误差分析中得出的。使用该新算法，可以在四个象限中描述刚体的姿态，从而大大提高了变换精度，也提高了四元数方法中姿态控制的准确性。与传统算法相比，新算法的另一个显着特征是通过“误差四元数”定量地考虑了刚体姿态的扰动，并在新算法中利用了欧拉角方向余弦矩阵元素中包含的姿态信息。即使在摄动条件下也将确保正确的转换结果。

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