基于四元数的水下滑翔机建模与仿真

Underwater Glider Modeling and Simulation Based on Quaternion

由于用Euler角、Cardon角或者Gibbs变量描述水下滑翔机姿态的传统方法存在奇异位置而产生数值计算的困难,对水下滑翔机使用Hamilton四元数替代欧拉角建立了三维动力学模型,并对自设计的水下滑翔机原理样机的锯齿状滑翔路径和滑翔过程中转向路径进行了数值仿真,最后对比了欧拉角动力学模型和四元数动力学模型的仿真结果,证明了四元数水下滑翔机动力学模型可以避免奇异值出现的优点。

As numerical problems exist while using traditional methods such as Euler angles, Cardon angles or Gibbs variable to describe the attitude angle because of singular point, this paper established an underwater glider three-dimensional dynamic model based on Hamilton quaternion and simulatesd jagged gliding glide path and steering glide path of underwater glider prototype numerically. Finally, the advantage of quatemion-based dynamic model was proved by comparing the numerical results of quaternion-based dynamic model with Euler angles- based dynamic model.