基于四元数法变换的末敏弹扫描运动研究

针对用欧拉角方程描述末敏弹旋转扫描运动时可能会因出现奇异点而退化的问题，采用四元数表示末敏子弹弹体的欧拉角和欧拉方程，对末敏子弹的运动学方程组进行了变换。为了验证四元数变换模型的正确性和在描述末敏弹稳态扫描运动时的优点，用欧拉方程组模型与四元数变换模型进行了对比仿真。仿真结果表明，基于四元数法变换的弹道模型能够正确反映末敏弹稳态扫描的物理规律，可以很好地形成所需扫描轨迹，在计算中不会出现奇点，比欧拉方程模型更适于描述末敏弹扫描的大幅度不确定姿态运动。

Study on Stable Scanning of Terminal Sensing Ammunition Based on Quaternion Amendment

Taking aim at the problem that there are singular points in the program under the condition that using Euler angles to describe the revolving motion of terminal sensing ammunition,the Euler angles are expressed by the quaternion and the Euler kinematics equation team is amended by the quaternion.The contrastive simulation was done in order to validate the correctness and advantage of describing the revolving motion of terminal sensing ammunition.The simulated results show that we can get stable solutions by...