采用6自由度方法对刚体的运动姿态进行了仿真研究，通过求解刚体的动力学方程和运动学方程确定刚体的质心位置。在分析研究传统求解刚体欧拉角缺点的基础上，采用全角度转换的四元数法求解欧拉角，解决了非全角度转换的四元数法在大攻角情况下转换不准确的问题。对6自由度方法进行了算例验证，结果表明该方法正确、实用，与已有的模型相比具有更好的工程应用价值。%It introduces the simulation of rigid body motion attitude with six degrees of freedom method .In order to determine the CG position of the rigid body , it solves the equation of rigid body dynamics and kinematics e-quations .Based on the shortcomings analysis of traditional methods and comparing with non -point conversion quaternion method , it shows that the proposed method can avoid the problem of inaccurate conversion for solving speed and angle of attack .The results prove that this method is correct and practical , and has better value in en-gineering applications than the existing other methods .
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