一种压缩型全姿态角四元数的表示方法

doi:10.19665/j.issn1001-2400.2019.04.016

西安电子科技大学学报 ›› 2019, Vol. 46 ›› Issue (4): 115-121.doi: 10.19665/j.issn1001-2400.2019.04.016

一种压缩型全姿态角四元数的表示方法

刘公绪^1,²,蔚保国¹,史凌峰²,刘洪²,何瑞²,董亚军²

1.卫星导航系统与装备技术国家重点实验室,河北石家庄 050081
2.西安电子科技大学电子工程学院,陕西西安 710071

收稿日期:2019-02-21 出版日期:2019-08-20 发布日期:2019-08-15
作者简介:刘公绪(1992—),男,西安电子科技大学博士研究生, E-mail: liugx@stu.xidian.edu.cn.
基金资助:
卫星导航系统与装备技术国家重点实验室开放研究基金(SKX182010033)

Representation method for the compressed full-attitude quaternion

LIU Gongxu^1,²,YU Baoguo¹,SHI Lingfeng²,LIU Hong²,HE Rui²,DONG Yajun²

1.State Key Lab. of Satellite Navigation System and Equipment Technology, Shijiazhuang 050081, China
2.School of Electronic Engineering, Xidian Univ., Xi’an 710071, China

Received:2019-02-21 Online:2019-08-20 Published:2019-08-15

摘要/Abstract

摘要：

由于四元数对姿态角的描述具有二重覆盖性,这种非一一映射关系会引起姿态散开问题。针对该问题,提出一种压缩型全姿态角四元数的表示方法。首先引入压缩型姿态角空间和压缩型四元数空间两个概念;然后基于东-北-天坐标系推导了两个空间的一一映射关系;最后通过数值仿真实验验证了所提出方法的有效性。仿真结果表明,所提出的方法既继承了四元数描述姿态角的非奇异性优点,又避免因四元数二重覆盖性引起的姿态散开问题。

关键词: 姿态角, 姿态表示, 姿态解算, 四元数, 奇异性

Abstract:

Due to the double spreadability of the quaternion for attitude representation or the non-one-to-one-mapping between the attitude and the quaternion, an attitude distraction issue may occur. A method for representing the compressed full-attitude quaternion is proposed in this paper to solve the issue mentioned above. First, two concepts of compressed attitude-space and compressed quaternion-space are introduced, and then the one-to-one mapping relationship between them is derived based on the East-North-Day coordinate system. Finally, the effectiveness of the proposed method is verified by numerical simulation experiments. The simulation results show that the proposed method not only inherits the non-singularity advantages of the quaternion for attitude representation, but also avoids the problem of attitude distraction caused by double spreadability.

Key words: attitude angle, attitude representation, attitude computation, quaternion, singularity

中图分类号:

V249.122 +.2

刘公绪,蔚保国,史凌峰,刘洪,何瑞,董亚军. 一种压缩型全姿态角四元数的表示方法[J]. 西安电子科技大学学报, 2019, 46(4): 115-121.

LIU Gongxu,YU Baoguo,SHI Lingfeng,LIU Hong,HE Rui,DONG Yajun. Representation method for the compressed full-attitude quaternion[J]. Journal of Xidian University, 2019, 46(4): 115-121.

图/表 5

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一种压缩型全姿态角四元数的表示方法

Representation method for the compressed full-attitude quaternion

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