为研究潜地导弹水下弹道特性,分析了潜地导弹水下受力情况,将导弹水下运动分为四段,建立导弹水下运动方程。鉴于潜地导弹在水下垂直发射的情况,运用四元数法建立导弹运动学方程,避免了传统欧拉角方程的奇异性;然后在Matlab/Simulink环境下建立导弹水下各段仿真模型,并进行仿真计算,结果表明所建模型较好的模拟了潜地导弹水下运动,为进一步研究潜地导弹水下运动及出水姿态打下基础。

In order to study the underwater trajectory characteristic of submarine-to-surface missile, the force condition were ana-lyzed, the underwater movement of missile was divided into four stages, and movement equations of missile were established. In order to avoid the singularity of traditional Euler function, quaternion was used to establish kinematics function of the missile for vertical launching underwater. The simulation model of each stage was designed under the condition of Matlab/Simulink. Simula-tion result shows that the established model which can simulate underwater trajectory of submarine to surface missile preferably lays the foundation for further research on underwater movement and water exit gesture of submarine-to-surface missile.