设在任意t时刻,动坐标系b系绕参考坐标系r系 o x r y r ox_ry_r oxryr平面上的单位转轴
u ( t ) = [ c o s Ω t s i n Ω t 0 ] u(t)= \left[ \begin{matrix} cos\Omega t \\ sin\Omega t \\ 0 \end{matrix} \right] u(t)=⎣⎡cosΩtsinΩt0⎦⎤
转动了
ϕ
\phi
ϕ角度。
根据
Q ( t ) = c o s ϕ 2 + u ( t ) s i n ϕ 2 Q(t)=cos\frac{\phi}{2}+u(t)sin\frac{\phi}{2} Q(t)=cos2ϕ+u(t)sin2ϕ
则可得到:
Q ( t ) = [ c o s ( ϕ / 2 ) s i n ( ϕ / 2 ) c o s Ω t s i n ( ϕ / 2 ) s i n Ω t 0 ] Q(t)= \left[ \begin{matrix} cos(\phi/2) \\ \\ sin(\phi/2)cos\Omega t \\ \\ sin(\phi/2)sin\Omega t \\ \\ 0 \end{matrix} \right] Q(t)=⎣⎢⎢⎢⎢⎢⎢⎢⎢⎡cos(ϕ/2)sin(ϕ/2)cosΩtsin(ϕ/2)sinΩt0⎦⎥⎥⎥⎥⎥⎥⎥⎥⎤
微分:
Q ˙ ( t ) = [ 0 − s i n ( ϕ / 2 ) s i n Ω t s i n ( ϕ / 2 ) c o s Ω t 0 ] \dot{Q}(t)= \left[ \begin{matrix} 0 \\ \\ -sin(\phi/2)sin\Omega t \\ \\ sin(\phi/2)cos\Omega t \\ \\ 0 \end{matrix} \right] Q˙(t)=⎣⎢⎢⎢⎢⎢⎢⎢⎢⎡0−sin(ϕ/2)sinΩtsin(ϕ/2)cosΩt0⎦⎥⎥⎥⎥⎥⎥⎥⎥⎤
由:
Q ˙ ( t ) = 1 2 Q ( t ) ⊗ ω ( t ) \dot{Q}(t)=\frac{1}{2} Q(t) \otimes \omega(t) Q˙(t)=21Q(t)⊗ω(t)
得:
ω q ( t ) = 2 Q ∗ ( t ) ⊗ Q ˙ ( t ) = [ 0 − Ω s i n ϕ s i n Ω t Ω s i n ϕ c o s Ω t − 2 Ω s i n 2 ( ϕ / 2 ) ] \omega _q (t)=2Q^*(t) \otimes \dot{Q}(t) = \left[ \begin{matrix} 0 \\ \\ -\Omega sin \phi sin\Omega t \\ \\ \Omega sin \phi cos\Omega t \\ \\ -2\Omega sin^2(\phi/2) \end{matrix} \right] ωq(t)=2Q∗(t)⊗Q˙(t)=⎣⎢⎢⎢⎢⎢⎢⎢⎢⎡0−ΩsinϕsinΩtΩsinϕcosΩt−2Ωsin2(ϕ/2)⎦⎥⎥⎥⎥⎥⎥⎥⎥⎤
即:
ω ( t ) = [ − Ω s i n ϕ s i n Ω t Ω s i n ϕ c o s Ω t − 2 Ω s i n 2 ( ϕ / 2 ) ] = Ω s i n ϕ [ − s i n Ω t c o s Ω t t a n ( ϕ / 2 ) ] \omega(t)= \left[ \begin{matrix} -\Omega sin \phi sin\Omega t \\ \\ \Omega sin \phi cos\Omega t \\ \\ -2\Omega sin^2(\phi/2) \end{matrix} \right] = \Omega sin \phi \left[ \begin{matrix} -sin\Omega t \\ \\ cos\Omega t \\ \\ tan(\phi/2) \end{matrix} \right] ω(t)=⎣⎢⎢⎢⎢⎡−ΩsinϕsinΩtΩsinϕcosΩt−2Ωsin2(ϕ/2)⎦⎥⎥⎥⎥⎤=Ωsinϕ⎣⎢⎢⎢⎢⎡−sinΩtcosΩttan(ϕ/2)⎦⎥⎥⎥⎥⎤
因
Q ( t ) = c o s ϕ 2 + ϕ ( t ) ϕ s i n ϕ 2 Q(t)=cos\frac{\phi}{2} + \frac{\phi(t)}{\phi} sin\frac{\phi}{2} Q(t)=cos2ϕ+ϕϕ(t)sin2ϕ
可得:
ϕ ( t ) = ϕ [ c o s Ω t s i n Ω t 0 ] \phi(t) = \phi \left[ \begin{matrix} cos\Omega t \\ \\ sin \Omega t \\ \\ 0 \end{matrix} \right] ϕ(t)=ϕ⎣⎢⎢⎢⎢⎡cosΩtsinΩt0⎦⎥⎥⎥⎥⎤
整理一下思路:
u
(
t
)
→
Q
(
t
)
→
ω
(
t
)
u(t) \xrightarrow[]{} Q(t) \xrightarrow[]{} \omega(t)
u(t)Q(t)ω(t)
另外还可:
u
(
t
)
→
ϕ
(
t
)
→
Q
(
t
)
→
ω
(
t
)
u(t) \xrightarrow[]{} \phi(t) \xrightarrow[]{} Q(t) \xrightarrow[]{} \omega(t)
u(t)ϕ(t)Q(t)ω(t)
参考自《捷联惯导算法与组合导航原理讲义(严恭敏)》《惯性导航(秦永元)》