摘要
在INS／CNS组合导航方式下，利用星矢量的像平面坐标和天球直角坐标信息建立导弹姿态转换矩阵模型是一个关键，且姿态矩阵解算为非线性方程组求解，涉及导数运算，计算量大、复杂。针对此，本文详细讨论了导弹姿态转换矩阵的计算模型建立，利用四元数姿态矩阵特性，提出了一种导弹姿态转换矩阵的线性化解算方法，为INS／CNS组合导航方式下，弹体姿态解算提供了新的数值解算思路。
Erecting the attitude transferred matrix model with star vectors in plane coordinates, celestial coordinate plays very important role in the INS/CNS integrated navigation system, and calculating the nonlinear missile attitude matrix involving derivation is very difficult and complex. This paper systematically discussed the derivation of calculating model of missile attitude and proposed a method to linearize the quaternion attitude matrix using quadratic form and variable substitutes.
