In this paper, the modeling theory of multi-rigid-body dynamics was thoroughly investigated in order to make up the shortcoming in the above modeling method. The major research achievements are as follows:①Based on the matrix of direction cosine between the body-fixed base and the reference base, and Poisson equation of a rigid body rotating, the coordinate transformation method for the modeling of treelike multi-rigid-body dynamics is derived. The method is very routinization and easy to use the computer to carry on the symbol derivation.

本文針對上述建模方法存在的不足98人妻在线免费公开观看，深入地研究了多剛體系統(tǒng)動(dòng)力學(xué)的建模方法五月丁香六月婷婷在线，并將所研究的新方法應(yīng)用于慣性振動(dòng)設(shè)備的建模色色色.com，取得的主要研究成果如下：①基于剛體連體基關(guān)于參考基的方向余弦矩陣和剛體轉(zhuǎn)動(dòng)的Poisson方程日韩精品妓女网页在线观看视频免费，導(dǎo)出了建立樹形多剛體系統(tǒng)動(dòng)力學(xué)方程的坐標(biāo)變換法99国产精品视频，其過程極其程式化国产精品一区二区三区免费菠萝，便于利用計(jì)算機(jī)進(jìn)行符號推導(dǎo)。

In this thesis, with the aid of the method of reconstructive direction cosine matrices of the analysis and synthesis of spatial mechanism, the more overall and systematic theoretical research is done about trident-bar universal joint and drawn some useful conclusions about kinematics analysis, dynamics analysis, kinematical precision analysis, vibration analysis, simulation and experimental results analysis, mechanism type selection analysis based method of fuzzy distinguishable pattern, integrated designing prototype system.

本文以改造的方向余弦矩陣為數(shù)學(xué)工具91精品国自产拍在线观看，以三叉式萬向節(jié)為研究對象农村一级做a爰片久久毛片A片。進(jìn)行了機(jī)構(gòu)有關(guān)的解析求解、仿真和試驗(yàn)結(jié)果分析在线观看国产技师自拍视频免费播放，基于模式識別技術(shù)的機(jī)構(gòu)選型及機(jī)構(gòu)的集成設(shè)計(jì)原型系統(tǒng)欧美天天视频WWW777COm，得出了以下結(jié)論：(1)采用改造的方向余弦方法適用于空間機(jī)構(gòu)的運(yùn)動(dòng)求解及動(dòng)力求解。它的特點(diǎn)是解析明了欧美福利片网址，以矩陣方式體現(xiàn)www.黄色视频a，適合計(jì)算機(jī)求解。并以萬向節(jié)為實(shí)例進(jìn)行了萬向節(jié)的詳細(xì)的運(yùn)動(dòng)分析91亚洲精品在线，建立了求解的各個(gè)變換矩陣欧美群A片，得出了機(jī)構(gòu)的詳細(xì)的運(yùn)動(dòng)關(guān)系。

Now there have been a certain number of works on the research for thekinematic synthesis of spatial RSSR mechanism for causing the driving and driven linkscorresponding angle displacement such as the direction cosine matrix method and rotationvector method.

目前已有若于著作研究了實(shí)現(xiàn)主從動(dòng)桿對應(yīng)角位移的空間RSSR機(jī)構(gòu)的運(yùn)動(dòng)綜合問題无码一级视频国产，如方向余弦矩陣法［1］樱花动漫官网下载app下载安装、回轉(zhuǎn)向量法［2］。

The quaternion calculation for spacecraft attitude determination is investigated in this paper,including the transformation between quaternion and the direction cosine matrix,the quaternion differential equation,the selection of time steps for integrating the quaternion equation,and the compensation methods for the noncommutativity error in high dynamic motion.

介紹了四元數(shù)計(jì)算中的相關(guān)問題亚洲区激情区无码区综合区，包括四元數(shù)與方向余弦陣之間的轉(zhuǎn)換美国无码Av免费自慰、四元數(shù)運(yùn)動(dòng)方程欧美一级AAAAAA片在线看、求解四元數(shù)運(yùn)動(dòng)方程時(shí)積分步長的選取和高動(dòng)態(tài)應(yīng)用中非互易誤差的補(bǔ)償，此外還介紹了對偶四元數(shù)的發(fā)展美国男女操逼。

The pressure hydrophone array manifold can be divided into two subarray manifolds,which constitute a rotation pair,and the rotational invariant factors comprise the source's direction cosine.

其中聲壓水聽器陣可以被劃分為2個(gè)子陣AAAα黄色视频，它們構(gòu)成旋轉(zhuǎn)對，旋轉(zhuǎn)因子為包含某一軸方向余弦信息的相位延遲因子秋霞理论久久理论电影。

Several common description methods for rotational kinematics are discussed in control point, such as direction cosine matrix, Euler angles, quaternions and Rodrigues/Modified-Rodrigues parameters. Transformation relationships, advantages and disadvantages among those methods are discussed.

從控制角度綜評方向余弦自拍高潮日韩在线观看、歐拉角、四元數(shù)和Rodrigues/修正Rodrigues參數(shù)幾種常用姿態(tài)描述動(dòng)態(tài)方程国产丰满成熟女性性高潮视频，指出各種方法的優(yōu)缺點(diǎn)黄色网站高清无码在线观看，及相互轉(zhuǎn)化。

A test scheme of trajectory measurement in security and reliably with OKA,GPS and total station positioning system(TCRA1101) etc is established.Synchronously,a method is presented on two OKA by direction cosine intersection in the measurement,also two different methods are adopted to check up the precision and the expectant results are obtained.

針對模型自由飛的特點(diǎn)白白免费发布在线观看，綜合利用兩臺小型激光電視測量系統(tǒng)大香线蕉视频观看国产、GPS、全站儀（TCRA1101）等現(xiàn)有設(shè)備免费美女黄，設(shè)計(jì)了安全黄色视频免费网站在线看、可靠的模型自由飛跟蹤、測量方案特黄一级免费视频；利用方向余弦交會算法自拍美日韩在线视频网站免费，對測量的模型自由飛數(shù)據(jù)進(jìn)行處理，并采用兩種不同的方法進(jìn)行了測量精度檢查美女黄网站一区二区，結(jié)果表明測試精度滿足測試要求欧美日韩在线视。

In this beamline, with the neutron depolarization technique, provides information of the mean domain size, the mean square direction cosine of the magnetic induction in the domains, and the mean magnetization of a magnetic sample.

三維去極化中子儀主要為觀察極化中子通過磁性材過程，受到內(nèi)部磁區(qū)的擾動(dòng)使得極化中子向的方向和大小改變欧美一级,日韩三级，進(jìn)分析后可以觀察出材內(nèi)部平均磁區(qū)大小欧美老年性生活视频、平均感應(yīng)磁場強(qiáng)、磁區(qū)平均方向余弦的平方亚洲黄色视频电影。

The calculation of initial alignment direction cosine matrix between SINS body frame and navigation reference frame is expanded into three parts:(1) the DCM between i0 frame and n frame is easily obtained via local geographical coordinates and initial alignment time;(2) by expressing SINS specific force equation in b frame and by the aid of external velocity log, the constant DCM from i(subscript 0) frame to i0 frame is achieved;(3) attitude updating using gyro samples gets the DCM between b frame and i(subscript b0) frame.

將捷聯(lián)慣組坐標(biāo)系與導(dǎo)航坐標(biāo)系之間的初始對準(zhǔn)姿態(tài)矩陣的實(shí)現(xiàn)分解為三步驟：(1)通過地理位置和初始對準(zhǔn)時(shí)間求解i0系至n系的變換矩陣A片免费观看久；(2)通過慣導(dǎo)比力方程變形，引入剛速儀速度輔助手机看片1024人妻久久性色，求解從i(下標(biāo) b0)系至i0系的常值變換矩陣国产一区黄视频；(3)使用姿態(tài)更新算法實(shí)時(shí)計(jì)算b相對于i(下標(biāo) b0)系的變換矩陣。

The velocity hydrophone array manifold can also be divided into two subarray manifolds,which constitute a rotation pair with the pressure hydrophone array manifold,and the rotational invariant factors comprise the source's other direction cosine.

振速水聽器陣可以被劃分為2個(gè)子陣日韩成人作爱在线视频观看网站大全，它與聲壓水聽器陣構(gòu)成旋轉(zhuǎn)對精品久久久久中文字幕，旋轉(zhuǎn)因子為另一軸方向余弦。