坐标系转换矩阵及其微分方程

Conversion Matrix of Coordinate and Its Differential Equations

在坐标单位矢量导数为非零条件下,通过建立飞行器的转换矩阵及其微分方程,将飞行器的动力学、运动学方程表达得更清晰、简洁。所得结论易于理解动静两种坐标系在时域内的联系,其数学表达式方便用MAT-LAB语言实现,有利于飞行器的建模与仿真。

When the derivative of the coordinate unit vector doesn't equal zero, the kinematical and dynamical equations of aircraft can be expressed much more explicit and concise according to establishing the conversion matrices and defining differential equations of the coordinate. The conclusion contributes to understanding the relationship of the moving coordinate and the stationary one in the time domain. The mathematic expression is convenient to be realized with MATLAB language, which is helpful to model and simulate the aircraft.