中国空间科学技术

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四元数、Rodrigues参数在卫星姿态解算上的对比研究

王勇军;秦永元;杨波;   

  1. 西北工业大学自动化学院,西北工业大学自动化学院,西北工业大学自动化学院 西安710072,西安710072,西安710072
  • 发布日期:2007-06-25

Comparison of Quaternion and Rodrigues Parameters on Attitude Algorithm of Secondary Planet

Wang Yongjun Qin Yongyuan Yang Bo(Department of Automatic Control North Westem Polytechnical Univercity,Xi′an 710072)   

  • Online:2007-06-25

被引次数

25

摘要： 详细阐述了罗德里格(Rodrigues)参数及改进型罗德里格(Modified Rodrigues)参数与四元数间的关系;推导了Rodrigues参数及改进型罗德里格参数微分方程和姿态阵,提出了后者避免奇异性的方法。通过仿真对以Rodrigues参数及改进型罗德里格参数描述的卫星姿态算法和以四元数描述的姿态算法在计算量和计算精度上进行了详细比较。仿真结果表明,Rodrigues参数和改进型罗德里格参数计算精度相当且计算量上优于四元数。

关键词: 四元数, 罗德里格参数, 计算精度, 卫星姿态

Abstract: The relations among Rodrigues parameters,modified Rodrigues parameters and quaternion were described.A method based on modified Redrigues parameters was proposed,which can avoid odd value.The differential equation and attitude matrix based on Rodrigues parameters and modified Rodrigues parameters were educed.By simulation,the computational complexity and calculation accuracy are compared among secondary planet attitude algorithms based on Rodrigues parameters,modified Rodrigues parameters and based on quaternion.The simulation results show that the calculation accuracy of the method based on the Rodrigues parameters and modified Rodrigues parameters is equal to that based on the quatemion,and the computational complexity of the former one is less than that of the later.