Analytical algorithm of program quaternion in the arbitrary spacecraft attitude-adjusting control

The analytical algorithm of program quaternion is studied, aiming at the problem of the arbitrary space vehicle attitude-adjusting control. The analytical constructor method of the program quaternion is provided for arbitrary given initial quaternion, initial angle velocity, terminal quaternion and terminal angle velocity. The presented method has advantages as: good adaptability, the initial and terminal conditions are both arbitrary; reduced operation, the calculation process involves the fundamental algebraic operation; direct optimization, the time consumption in the process of space vehicle attitude adjustment and the maximum angular velocity can be optimized directly by using the program quaternion model. Finally, according to the simulation results, the program quaternion tracking can be realized by a PD control law.