HUANG Jin-yang， XIN Chang-fan， MA Yun-jian， JIA Yi-xian
（School of Mechatronics Engineering， North University of China， Taiyuan 030051， China）
Abstract： In recent years, with the extensive applications of high performance computer and the rapid development of the attitude control of the spacecraft, quaternion theory has been widely used. Compared with Euler angles, quaternion not only is simple calculation, but also can avoid the singularity problem of Euler angles, therefore it is widely used in the attitude control of spacecraft. In this paper, Simulink simulation technology is used to establish a rigid attitude simulation model with quaternion method and virtual reality scene by virtual reality modeling language (VRML) is used to achieve attitude motion visualization. The simulation results show that the Simulink simulation model can accurately reflect the attitude motion of the rigid body, which is valuable for the research of the attitude control of the spacecraft.
Key words： rigid body attitude; quaternion; visualization; virtual reality
CLD number： V412.4+2Document code： A
Article ID： 1674-8042（2017）01-0032-05 doi： 10.3969/j.issn.1674-8042-2017-01-006
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四元数在刚体姿态运动可视化仿真中的应用
黄金阳， 辛长范， 马云建， 贾意弦
（中北大学 机电工程学院， 山西 太原 030051）
摘要:近年来， 随着高性能计算机的广泛应用及飞行器姿态控制研究的迅速发展， 四元数理论得以广泛应用。 四元数不仅计算简单， 而且避免了欧拉角存在的奇异性问题， 因此在航天飞行器姿态控制当中被广泛应用。 本文利用Simulink仿真技术， 用四元数法建立了刚体姿态仿真模型， 并利用VRML虚拟现实场景实现了姿态运动的可视化。 仿真结果显示该Simulink仿真模型能够准确反映出刚体的姿态运动情况， 对于飞行器姿态控制的研究具有一定的参考价值。
关键词:刚体姿态； 四元数； 可视化； 虚拟现实
引用格式： HUANG Jin-yang， XIN Chang-fan， MA Yun-jian， et al. Application of quaternion in visual simulation of rigid body motion. Journal of Measurement Science and Instrumentation, 2017, 8(1)： 32-36. ［doi： 10.3969／j.issn.1674-8042.2017-01-006］
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