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所在平台: Coursera |
课程主页: https://www.coursera.org/learn/spacecraft-dynamics-kinematics
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课程名称：运动学：描述航天器的运动 课程概述：为了确保安全性和有效性，必须精确预测和控制身体在太空中的运动（例如航天器、卫星和空间站）。运动学是发展这些物体在三维空间中运动描述和预测的一个领域。本课程涵盖四个主要主题：粒子运动学介绍、刚体运动学的深入探讨（分为两个部分：首先是使用方向余弦矩阵和欧拉角的经典运动描述，最后回顾现代描述方法，如四元数和经典及修改的罗德里格斯参数）。课程最后着眼于静态姿态测定，利用现代算法预测和执行太空中物体的相对方位。 课程结束后，您将能够： - 区分在另一个旋转参考系中观察到的向量并推导出依赖于框架的速度和加速度向量 - 应用传输定理解决运动学粒子问题，并在各种姿态描述之间进行转换 - 相加和相减相对姿态描述，并数值积分这些描述以预测随时间变化的方位 - 推导刚体的基本姿态坐标属性，并通过一系列航向测量确定姿态 课程大纲： 1. 运动学介绍 - 描述：本模块涵盖粒子运动学。特别强调独立于框架的矢量表示法。利用传输定理推导粒子的位置、速度和加速度。 2. 刚体运动学 I - 描述：本模块提供刚体朝向描述的概述。通过方向余弦矩阵（DCM）或欧拉角集描述三维航向。讨论每组的基本姿态加法和减法，以及将坐标速率与身体角速度向量相关联的微分运动学方程。 3. 刚体运动学 II - 描述：本模块涵盖现代姿态坐标集，包括欧拉参数（四元数）、主旋转参数、经典罗德里格斯参数、修改罗德里格斯参数以及立体定向参数。讨论每组的姿态加法和减法的概念及映射到其他坐标集的方法。 4. 静态姿态测定 - 描述：本模块介绍如何通过瞬时观测（如太阳方向、磁场方向、星体方向等）计算相应的三维姿态测量。涵盖的姿态测定方法包括TRIAD方法、Devenport的q方法、QUEST和OLAE。评审每种算法的优缺点和计算挑战。
Name:Introduction to Kinematics
Description:This module covers particle kinematics. A special emphasis is placed on a frame-independent vectorial notation. The position velocity and acceleration of particles are derived using rotating frames utilizing the transport theorem.
Name:Rigid Body Kinematics I
Description:This module provides an overview of orientation descriptions of rigid bodies. The 3D heading is here described using either the direction cosine matrix (DCM) or the Euler angle sets. For each set the fundamental attitude addition and subtracts are discussed, as well as the differential kinematic equation which relates coordinate rates to the body angular velocity vector.
Name:Rigid Body Kinematics II
Description:This module covers modern attitude coordinate sets including Euler Parameters (quaternions), principal rotation parameters, Classical Rodrigues parameters, modified Rodrigues parameters, as well as stereographic orientation parameters. For each set the concepts of attitude addition and subtraction is developed, as well as mappings to other coordinate sets.
Name:Static Attitude Determination
Description:This module covers how to take an instantaneous set of observations (sun heading, magnetic field direction, star direction, etc.) and compute a corresponding 3D attitude measure. The attitude determination methods covered include the TRIAD method, Devenport's q-method, QUEST as well as OLAE. The benefits and computation challenges are reviewed for each algorithm.
The movement of bodies in space (like spacecraft, satellites, and space stations) must be predicted and controlled with precision in order to ensure safety and efficacy. Kinematics is a field that develops descriptions and predictions of the motion of these bodies in 3D space. This course in Kinematics covers four major topic areas: an introduction to particle kinematics, a deep dive into rigid body kinematics in two parts (starting with classic descriptions of motion using the directional cosine matrix and Euler angles, and concluding with a review of modern descriptors like quaternions and Classical and Modified Rodrigues parameters). The course ends with a look at static attitude determination, using modern algorithms to predict and execute relative orientations of bodies in space. After this course, you will be able to... * Differentiate a vector as seen by another rotating frame and derive frame dependent velocity and acceleration vectors * Apply the Transport Theorem to solve kinematic particle problems and translate between various sets of attitude descriptions * Add and subtract relative attitude descriptions and integrate those descriptions numerically to predict orientations over time * Derive the fundamental attitude coordinate properties of rigid bodies and determine attitude from a series of heading measurements
