This paper deals with rigid body attitude estimation on the basis of the data obtained from an inertial measurement unit mounted on the body. The aim of this work is to present the numerical algorithm, which can be ea...This paper deals with rigid body attitude estimation on the basis of the data obtained from an inertial measurement unit mounted on the body. The aim of this work is to present the numerical algorithm, which can be easily applied to the wide class of problems concerning rigid body positioning, arising in aerospace and marine engineering, or in increasingly popular robotic systems and unmanned aerial vehicles. Following the considerations of kinematics of rigid bodies, the relations between accelerations of different points of the body are given. A rotation matrix is formed using the quaternion approach to avoid singularities. We present numerical procedures for determination of the absolute accelerations of the center of mass and of an arbitrary point of the body expressed in the inertial reference frame, as well as its attitude. An application of the algorithm to the example of a heavy symmetrical gyroscope is presented, where input data for the numerical procedure are obtained from the solution of differential equations of motion, instead of using sensor measurements.展开更多
The convergent and divergent velocities of active plate boundaries in the North Hemisphere are obtained with space geodetic data. The relative motions of adjacent plates in north-south direction are almost convergent;...The convergent and divergent velocities of active plate boundaries in the North Hemisphere are obtained with space geodetic data. The relative motions of adjacent plates in north-south direction are almost convergent; the spreading rates of the north mid-Atlantic ridge are smaller than the south mid-Atlantic ridge; the closed differences of the baseline length rates between stations on different plates along the latitudinal circle of 7.7, 23.3? 34.8? 42.0?and 51.0?are all negative. All these show that the North Hemisphere is a compressive hemisphere.展开更多
This paper is a review,which focuses on our work,while including an analysis of many works of other researchers in the field of quaternionic regularization.The regular quaternion models of celestial mechanics and astr...This paper is a review,which focuses on our work,while including an analysis of many works of other researchers in the field of quaternionic regularization.The regular quaternion models of celestial mechanics and astrodynamics in the Kustaanheimo-Stiefel(KS)variables and Euler(Rodrigues-Hamilton)parameters are analyzed.These models are derived by the quaternion methods of mechanics and are based on the differential equations of the perturbed spatial two-body problem and the perturbed spatial central motion of a point particle.This paper also covers some applications of these models.Stiefel and Scheifele are known to have doubted that quaternions and quaternion matrices can be used efficiently to regularize the equations of celestial mechanics.However,the author of this paper and other researchers refuted this point of view and showed that the quaternion approach actually leads to efficient solutions for regularizing the equations of celestial mechanics and astrodynamics.This paper presents convenient geometric and kinematic interpretations of the KS transformation and the KS bilinear relation proposed by the present author.More general(compared with the KS equations)quaternion regular equations of the perturbed spatial two-body problem in the KS variables are presented.These equations are derived with the assumption that the KS bilinear relation was not satisfied.The main stages of the quaternion theory of regularizing the vector differential equation of the perturbed central motion of a point particle are presented,together with regular equations in the KS variables and Euler parameters,derived by the aforementioned theory.We also present the derivation of regular quaternion equations of the perturbed spatial two-body problem in the Levi-Civita variables and the Euler parameters,developed by the ideal rectangular Hansen coordinates and the orientation quaternion of the ideal coordinate frame.This paper also gives new results using quaternionic methods in the perturbed spatial restricted three-body problem.展开更多
Recently the Kirchhoff rod and the methods of dynamical analogue have been widely used in modeling DNA.The features of a DNA such as its super slender and super large deformation raise new challenges in modeling and n...Recently the Kirchhoff rod and the methods of dynamical analogue have been widely used in modeling DNA.The features of a DNA such as its super slender and super large deformation raise new challenges in modeling and numerical simulations of a Kirchhoff rod.In this paper,Euler parameters are introduced to set up the quasi-Hamilton system of an elastic rod,then a symplectic algorithm is applied in its numerical simulations.Finally,a simplified surface model of the rod is given based on the hypothesis of rigid cross-section.展开更多
基金supported by the Serbian Ministry of Education, Science and Technological Development (Grant 174016)
文摘This paper deals with rigid body attitude estimation on the basis of the data obtained from an inertial measurement unit mounted on the body. The aim of this work is to present the numerical algorithm, which can be easily applied to the wide class of problems concerning rigid body positioning, arising in aerospace and marine engineering, or in increasingly popular robotic systems and unmanned aerial vehicles. Following the considerations of kinematics of rigid bodies, the relations between accelerations of different points of the body are given. A rotation matrix is formed using the quaternion approach to avoid singularities. We present numerical procedures for determination of the absolute accelerations of the center of mass and of an arbitrary point of the body expressed in the inertial reference frame, as well as its attitude. An application of the algorithm to the example of a heavy symmetrical gyroscope is presented, where input data for the numerical procedure are obtained from the solution of differential equations of motion, instead of using sensor measurements.
基金State Key Basic Research Development and Programming Project (G1998040703) the Major Project for Basic Re-search of the Chinese Academy of Sciences (KJ951-1-304) and the Scientific and Technical Development Foundation of Shanghai (JC14012).
文摘The convergent and divergent velocities of active plate boundaries in the North Hemisphere are obtained with space geodetic data. The relative motions of adjacent plates in north-south direction are almost convergent; the spreading rates of the north mid-Atlantic ridge are smaller than the south mid-Atlantic ridge; the closed differences of the baseline length rates between stations on different plates along the latitudinal circle of 7.7, 23.3? 34.8? 42.0?and 51.0?are all negative. All these show that the North Hemisphere is a compressive hemisphere.
基金Project supported by the Russian Foundation for Basic Research(No.19-01-00205)。
文摘This paper is a review,which focuses on our work,while including an analysis of many works of other researchers in the field of quaternionic regularization.The regular quaternion models of celestial mechanics and astrodynamics in the Kustaanheimo-Stiefel(KS)variables and Euler(Rodrigues-Hamilton)parameters are analyzed.These models are derived by the quaternion methods of mechanics and are based on the differential equations of the perturbed spatial two-body problem and the perturbed spatial central motion of a point particle.This paper also covers some applications of these models.Stiefel and Scheifele are known to have doubted that quaternions and quaternion matrices can be used efficiently to regularize the equations of celestial mechanics.However,the author of this paper and other researchers refuted this point of view and showed that the quaternion approach actually leads to efficient solutions for regularizing the equations of celestial mechanics and astrodynamics.This paper presents convenient geometric and kinematic interpretations of the KS transformation and the KS bilinear relation proposed by the present author.More general(compared with the KS equations)quaternion regular equations of the perturbed spatial two-body problem in the KS variables are presented.These equations are derived with the assumption that the KS bilinear relation was not satisfied.The main stages of the quaternion theory of regularizing the vector differential equation of the perturbed central motion of a point particle are presented,together with regular equations in the KS variables and Euler parameters,derived by the aforementioned theory.We also present the derivation of regular quaternion equations of the perturbed spatial two-body problem in the Levi-Civita variables and the Euler parameters,developed by the ideal rectangular Hansen coordinates and the orientation quaternion of the ideal coordinate frame.This paper also gives new results using quaternionic methods in the perturbed spatial restricted three-body problem.
基金Jiangsu Overseas Research or Training Program for University Prominent Young Faculty and PresidentsNational Natural Science Foundation of China(Grant Nos.11426141,11571136 and 11072120).
文摘Recently the Kirchhoff rod and the methods of dynamical analogue have been widely used in modeling DNA.The features of a DNA such as its super slender and super large deformation raise new challenges in modeling and numerical simulations of a Kirchhoff rod.In this paper,Euler parameters are introduced to set up the quasi-Hamilton system of an elastic rod,then a symplectic algorithm is applied in its numerical simulations.Finally,a simplified surface model of the rod is given based on the hypothesis of rigid cross-section.
