摘要
针对航天器网络中的全局姿态同步问题,提出了两类基于四元数表征的同步协议.基于对四元数标量初值的预处理,第一类航天器姿态协议仅利用其四元数的矢量部分,能够在任意初始物理姿态情况下实现航天器姿态在数学意义下的全局同步.进一步,第二类航天器姿态协议通过融入航天器姿态的实时四元数标量符号,不仅能够避免对其标量部分进行单独分析,而且能够保证航天器姿态实现物理意义下的全局同步.通过航天器网络的仿真分析,验证了两类协议在任意初始物理姿态下的全局姿态同步效果.
This paper develops two quaternion-based protocols for the global attitude synchronization problem of networked spacecraft.Thanks to the pretreatment of the scalar parts of initial quaternions,the first protocol achieves the global synchronization of the spacecraft's attitudes with arbitrary initial attitudes in the mathematical sense by resorting only to the vector parts of their quaternions.Moreover,the second protocol incorporates the signs of the scalar parts of real-time quaternions for the spacecraft's attitudes,which thus can not only avoid analyzing the evolution of their scalar parts separately,but also ensure the global synchronization of the spacecraft's attitudes in the physical sense.Simulations for networked spacecraft are presented to show the global attitude synchronization performances under two proposed protocols.
作者
孟德元
伞扬
张凡
Meng Deyuan;San Yang;Zhang Fan(School of Automation Science and Electrical Engineering,Beihang University(BUAA),Beijing 100191,China)
出处
《河南师范大学学报（自然科学版）》
CAS
北大核心
2022年第6期1-7,F0002,共8页
Journal of Henan Normal University(Natural Science Edition)
基金
国家自然科学基金(62273018,61922007,61873013)。
关键词
航天器网络
四元数
姿态同步
全局同步
networked spacecraft
quaternion
attitude synchronization
global synchronization
