刚体运动方程的数值积分算法
Algorithm for numerical integration of the rigid-body equations of motion
摘要：
本文提出了一种对刚体运动方程进行数值积分的新算法。该算法采用蛙跳格式，所涉及的量是角速度和取向变量，可以用主轴或四元数表示。由于该算法的特定功能，正交和单位范数的取向变量的运动积分，尽管产生的轨迹的近似字符。结果表明，该方法似乎是最有效的所有已知的算法中的这样一种。
英文摘要：
A new algorithm for numerical integration of the rigid-body equations of motion is proposed. The algorithm uses the leapfrog scheme and the quantities involved are angular velocities and orientational variables which can be expressed in terms of either principal axes or quaternions. Due to specific features of the algorithm, orthonormality and unit norms of the orientational variables are integrals of motion, despite an approximate character of the produced trajectories. It is shown that the method presented appears to be the most efficient among all known algorithms of such a kind.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
