安全是列车运行的首要前提,姿态角是评估列车运行稳定性的重要参数.该文介绍基于捷联惯性导航技术,在当地地理导航坐标系中使用四元数法进行姿态更新,并结合方向余弦法及欧拉角法推算出姿态角的方法.在模型车转向架上安装六自由度惯性传感器,绕椭圆形轨道运行两圈,测得比力及角速度,导人Matlab编写的程序,解算出姿态角,为评估列车运行状态提供依据.%Safety is the essential prerequisite of the running train, and attitude angles are important parameters to estimate running stability for the train. This paper presented a method to calculate attitude angles, which is based on strapdown inertial navigation technology. The method uses quaternion and combines direction cosine matrix with Eulerian angles to update attitude at local geography navigation coordinate system. Six degrees of freedom inertial sensor were installed at model bogie to measure specific force and palstance by running two circles around oval track. Load-in program written with Matlab can calculate attitude angles and provide data for estimating the running state of the train.
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