捷联式三轴稳定跟踪系统的运动学建模与仿真

建立捷联式三轴稳定跟踪系统的正、逆运动学数学模型。由三轴稳定跟踪系统跟踪动目标的原理，在机构上建立了系统的各级坐标系及相应的齐次变换阵，利用方向余弦阵建立运动学方程，由矩阵对应元素相等解出３个独立关节变量，完成逆运动学解算。将解算的关节变量代入正运动学方程，得到系统实际输出量。在稳定及自动跟踪等状态下的仿真实验表明，模型的输出复现了输入跟踪信号，验证了数学模型的正确性。

Kinematics Modeling and Simulation of Strapdown 3-Axis Stable Tracking System

To construct the kinematics and inverse kinematics models of the strapdown 3 axis stable tracking system, under the condition of moving vehicle, the method of tracking moving object by 3 axis system was analyzed in detail. Coordinates of the system and their related transformation matrixes were provided first, then the inverse kinematics function was set up with the directional cosine matrix. Three independent joint variables were solved by elements in the matrix. The actual output of the system was obtained by substituting the joint variables into the kinematics function. In the cases of stabilization and autotracking, the simulation outputs are in the same way as the inputs of tracking signals, which verifies the correctness of this mathematical model.