什么是飞行器三自由度
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请问什么是自由度（飞行器中），三自由度啥意思，三自由度的分类，还有刘自由度的概念。simulink中飞行器模块中的三自由度的分类是咋分的，每种的三自由度模块的意思，谢谢各位了
就是三自由度不考虑飞行器绕xyz轴的转动，六自由度要考虑，是不？那俯仰通道就要算到六自由度中了？
三自由度 ——质点运动模型 考虑 X Y Z 三方向的位移速度加速度。
任何由人类制造、能飞离地面、在空间飞行并由人来控制的飞行物，称为飞行器。飞行器分为3类：航空器、航天器、火箭和导弹。
飞行器主要有两个用途，侦察和攻击空中单位。如果你的对手有很多的空军，那么用飞行器去攻击它们。可以升级飞行器的攻击力来得到更好的攻击效果。飞行器可以侦察到隐形的单位。
技术指标
高速主轴：负载重量：=5kg， 速率范围：0.1~10000rpm，最大角加速度：1000°/s2； 俯仰轴：旋转范围：±90°，摇摆频率：6Hz（±1°），1Hz（±8°）；角位置定位精度：≤±10〞；角位置定位分辨率：≤±3〞；角位置定位分辨率：≤±3〞；方位轴：摇摆范围：±20°；角位置定位精度：±30〞；角位置定位分辨率：≤±3〞。
参考技术A 自由度：描述运动的相互独立的变量数。物理学中的自由度 完全确定一个物体在空间位置所需要的独立坐标数目，叫做这个物体的自由度 如对于质点需要3自由度（X，Y，Z），对于刚体要6个。三自由度 ——质点运动模型 考虑 X Y Z 三方向的运动
六自由度 ——三维空间刚体运动模型， 除其质心在三轴空间中运动自由度之外，还考虑刚体绕质心的俯仰、横滚、偏航运动，故为六自由度。本回答被提问者和网友采纳 参考技术B 三自由度飞行器模型系统主要包括三自由度飞行器模型系统一台，四个电源模块，一个采集卡，三个编码盘。
三自由度飞行器模型系统是由加拿大Quanser公司提供的实验装置。模型系统有三方面的控制，分别为俯仰角控制，滚转角控制，偏航角控制。
该系统作为一个实验装置，形象直观，结构简单；而作为一个被控对象，它又相当复杂。就其本身而言，是一个高阶次、不稳定、多变量、非线性、强耦合的多输入多输出系统，为了更好地对三自由度飞行器模型系统进行控制，有必要对其设计更有效的控制器。 参考技术C 三自由度 ——质点运动模型 考虑 X Y Z 三方向的位移速度加速度
六自由度 —— 除质点运动外 还考虑姿态运动 角加速度 角速度 姿态角啥的 参考技术D 三自由度 ——质点运动模型 考虑 X Y Z 三方向的位移速度加速度
六自由度 —— 除质点运动外 还考虑姿态运动 角加速度 角速度 姿态角啥的
[原][osgEarth]添加自由飞行漫游器
//头文件里
#define MANIPULATOR_W 0x01
#define MANIPULATOR_A 0x02
#define MANIPULATOR_S 0x04
#define MANIPULATOR_D 0x08
#define MANIPULATOR_R 0x10
#define MANIPULATOR_F 0x20
#define MANIPULATOR_MAX 127
//所有漫游器都必须实现的4个纯虚函数 virtual void setByMatrix(const osg::Matrixd& matrix); //设置相机的位置姿态矩阵 virtual void setByInverseMatrix(const osg::Matrixd& matrix) {} //设置相机的视图矩阵 virtual osg::Matrixd getMatrix() const; //获取相机的姿态矩阵 virtual osg::Matrixd getInverseMatrix() const; //获取相机的视图矩阵 //所有操作在这里响应 virtual bool handle(const osgGA::GUIEventAdapter& ea, osgGA::GUIActionAdapter& us); void reFreshSawEarth();//在当前经纬度，姿态回正：1.视点向地面 2.头部向正北 void reFreshSawSkyline(osg::Vec3d eye=osg::Vec3d(0,0,0));//在当前经纬度，头部回正：1.视点中心不变 2.头部向天 osg::Vec3d _eye; //视点位置 osg::Quat _rotate; //旋转姿态 osg::Quat _rotateNew; //旋转姿态 osg::ref_ptr<osg::Node> _root; osg::observer_ptr<osg::Node> _node; osg::observer_ptr<osgEarth::MapNode> _mapNode; osg::ref_ptr<const osgEarth::SpatialReference> _srs; float _speed; //速度 float _speedBase; float _speedMultiple; //速度倍数 float _timerRoll; bool _updateAltitude; bool _updateRollStart; //更新滚转 bool _updateRoll; //更新滚转 bool _openStree; // Internal event stack comprising last two mouse events. osg::ref_ptr<const osgGA::GUIEventAdapter> _ga_t1; osg::ref_ptr<const osgGA::GUIEventAdapter> _ga_t0;
//cpp文件 void setByMatrix(const osg::Matrixd& matrix)//设置相机的位置姿态矩阵 { gMinpulatorContgrol = 0; _eye = matrix.getTrans(); osg::Vec3d v3Eye, v3Center, v3Up; v3Eye = _eye;//使用相机实际位置 osg::Vec3d v3EyeLonLat; _srs->transformFromWorld(v3Eye, v3EyeLonLat); //先获取当前位置的经纬度，再获取当前正上，正北 osg::Matrix mRealAttitude; if (v3EyeLonLat.z() < 10000)//距离地面1千万米以内需要矫正 //reFreshSawSkyline(); _updateRoll = true; else reFreshSawEarth(); } osg::Matrixd getInverseMatrix() const { osg::Matrix mat; mat.setRotate(-_rotate); mat.preMultTranslate(-_eye); return mat; //return osg::Matrixd::inverse(getMatrix()); }void setNode(osg::Node* node) { // you can only set the node if it has not already been set, OR if you are setting // it to NULL. (So to change it, you must first set it to NULL.) This is to prevent // OSG from overwriting the node after you have already set on manually. if (node == 0L || !_node.valid()) { _root = node; _node = node; _mapNode = 0L; _srs = 0L; established(); osg::Matrix matrixGood1; GeoPoint point1(_srs, 0, 0, 10000.0); point1.createLocalToWorld(matrixGood1); _eye = matrixGood1.getTrans(); osg::Vec3d worldup; point1.createWorldUpVector(worldup); osg::Matrix mat; matrixGood1.getRotate().get(mat); osg::Vec3d eye, center, up; mat.getLookAt(eye, center, up); mat.makeLookAt(eye, -worldup, up); _rotate = mat.getRotate(); } } void reFreshSawSkyline(osg::Vec3d eye) { osg::Vec3d v3Eye; osg::Vec3d v3EyeLonLat; v3Eye = _eye;//使用相机实际位置 if (eye != osg::Vec3d(0, 0, 0)) { v3Eye += eye; } _srs->transformFromWorld(v3Eye, v3EyeLonLat); //先获取当前位置的经纬度，再获取当前正上，正北 if (v3EyeLonLat.z() < 10000)//距离地面1千万米以内需要矫正 { osg::Matrix mRealAttitude; GeoPoint gEyeGeo(_srs, v3EyeLonLat.x(), v3EyeLonLat.y(), v3EyeLonLat.z()); gEyeGeo.createLocalToWorld(mRealAttitude); osg::Vec3d v3HorizonUp;//指天向量 gEyeGeo.createWorldUpVector(v3HorizonUp); _rotate.get(mRealAttitude);//要使用当前相机的姿态 osg::Vec3d theEye,v3Center, v3Up; mRealAttitude.getLookAt(theEye, v3Center, v3Up);//获取新的位置和姿态 osg::Vec3d v3Direction = v3Center - theEye; mRealAttitude.makeLookAt(osg::Vec3d(0, 0, 0), v3Direction, v3HorizonUp); _rotate = mRealAttitude.getRotate(); } //_eye = v3Eye; } void reFreshSawEarth() { osg::Vec3d v3Eye, v3Center, v3Up; v3Eye = _eye;//使用相机实际位置 osg::Vec3d v3EyeLonLat; _srs->transformFromWorld(v3Eye, v3EyeLonLat); //先获取当前位置的经纬度，再获取当前正上，正北 osg::Matrix mRealAttitude; if (v3EyeLonLat.z() < 0)//v3EyeLonLat.z()是眼点实际海拔 v3EyeLonLat.z() = 100;//将海拔0以下的物体拉到海拔100米 GeoPoint gEyeGeo(_srs, v3EyeLonLat.x(), v3EyeLonLat.y(), v3EyeLonLat.z()); gEyeGeo.createLocalToWorld(mRealAttitude); osg::Vec3d v3HorizonUp;//指天向量 gEyeGeo.createWorldUpVector(v3HorizonUp); _eye = mRealAttitude.getTrans(); mRealAttitude.getLookAt(v3Eye, v3Center, v3Up);//获取新的位置和姿态 osg::Matrix mDeviationAttitude;//向北位置偏移0.00001纬度，为了计算正北方向 GeoPoint gDeviationEyeGeo(_srs, v3EyeLonLat.x(), v3EyeLonLat.y() + 0.00001, v3EyeLonLat.z()); gDeviationEyeGeo.createLocalToWorld(mDeviationAttitude); osg::Vec3d v3DeviationNorthPoint = mDeviationAttitude.getTrans(); osg::Vec3d v3NorthHeadUp = v3DeviationNorthPoint - v3Eye; v3NorthHeadUp.normalize();//指北向量 if (v3EyeLonLat.y() < 89.99999 && v3EyeLonLat.y() > -90.0) { mRealAttitude.makeLookAt(osg::Vec3d(0, 0, 0), -v3HorizonUp, v3NorthHeadUp); } _rotate = mRealAttitude.getRotate(); } bool handle(const osgGA::GUIEventAdapter& ea, osgGA::GUIActionAdapter& us) { bool handled = false; switch (ea.getEventType()) { case(osgGA::GUIEventAdapter::FRAME): { if (gMinpulatorContgrol & MANIPULATOR_MAX) { osg::Vec3d v3Direction; //视点方向 osg::Matrix mCameraQuat; osg::Vec3d v3Eye, v3Center, v3Up; _rotate.get(mCameraQuat); mCameraQuat.getLookAt(v3Eye, v3Center, v3Up);//这里的v3Eye不是实际相机的位置，而是0，0，0 v3Direction = v3Center - v3Eye; v3Direction.normalize(); /*********************************************************/ osg::Vec3d RealEye = _eye; osg::Vec3d testHight = v3Direction*100; double _DvalueHight = 0.0; { osg::Vec3d testLonLat1, testLonLat2; _srs->transformFromWorld(RealEye, testLonLat1); RealEye = _eye; osg::Vec3d testEye = RealEye + testHight; _srs->transformFromWorld(testEye, testLonLat2); _DvalueHight = abs(testLonLat2.z() - testLonLat1.z()); if (_DvalueHight < 10)//趋近水平使用水平方向 { testLonLat2.z() = testLonLat1.z(); _srs->transformToWorld(testLonLat2, testEye); v3Direction = testEye - RealEye; v3Direction.normalize(); } } osg::Vec3d v3CrossVector = v3Up^v3Direction; v3CrossVector.normalize(); /*********************************************************/ //计算地面高度 osg::Vec3d v3EyeLonLat; v3Eye = _eye; _srs->transformFromWorld(v3Eye, v3EyeLonLat); double mAltitude = VRE_ENGINE.GetToolsFunc()->GetGeoPointAltitude(v3EyeLonLat.x(), v3EyeLonLat.y()); float height = osg::clampBetween(v3EyeLonLat.z() - mAltitude, 100.0, 1000000.0); _speed = height / 200.0;//根据离地面高度计算当前速度值 RealEye = _eye; if (gMinpulatorContgrol & MANIPULATOR_W) { RealEye += v3Direction * _speed *_speedMultiple * _speedBase; _updateAltitude = false; }if (gMinpulatorContgrol & MANIPULATOR_A) { RealEye += v3CrossVector * _speed *_speedMultiple * _speedBase; _updateAltitude = false; }if (gMinpulatorContgrol & MANIPULATOR_S) { RealEye -= v3Direction * _speed *_speedMultiple * _speedBase; _updateAltitude = false; }if (gMinpulatorContgrol & MANIPULATOR_D) { RealEye -= v3CrossVector * _speed *_speedMultiple * _speedBase; _updateAltitude = false; }if (gMinpulatorContgrol & MANIPULATOR_R) { //_eye += v3Up * _speed *_speedMultiple * _speedBase; v3EyeLonLat.z() += _speed *_speedMultiple * _speedBase; osg::Vec3d newv3Eye; _srs->transformToWorld(v3EyeLonLat, newv3Eye); RealEye = newv3Eye; _updateAltitude = false; }if (gMinpulatorContgrol & MANIPULATOR_F) { //_eye -= v3Up * _speed *_speedMultiple * _speedBase; v3EyeLonLat.z() -= _speed *_speedMultiple * _speedBase; osg::Vec3d newv3Eye; _srs->transformToWorld(v3EyeLonLat, newv3Eye); RealEye = newv3Eye; _updateAltitude = false; } _eye = RealEye; //reFreshSawSkyline(RealEye); } if (_updateRoll) { osg::Vec3d v3Eye; osg::Vec3d v3EyeLonLat; v3Eye = _eye;//使用相机实际位置 _srs->transformFromWorld(v3Eye, v3EyeLonLat); //先获取当前位置的经纬度，再获取当前正上，正北 if (v3EyeLonLat.z() < 10000)//距离地面1千万米以内需要矫正 { osg::Matrix mRealAttitude; GeoPoint gEyeGeo(_srs, v3EyeLonLat.x(), v3EyeLonLat.y(), v3EyeLonLat.z()); gEyeGeo.createLocalToWorld(mRealAttitude); osg::Vec3d v3HorizonUp;//指天向量 gEyeGeo.createWorldUpVector(v3HorizonUp); _rotate.get(mRealAttitude);//要使用当前相机的姿态 osg::Vec3d theEye, v3Center, v3Up; mRealAttitude.getLookAt(theEye, v3Center, v3Up);//获取新的位置和姿态 osg::Vec3d v3Direction = v3Center - theEye; mRealAttitude.makeLookAt(osg::Vec3d(0, 0, 0), v3Direction, v3HorizonUp); _rotateNew = mRealAttitude.getRotate(); _updateRoll = false; _updateRollStart = true; _timerRoll = 0.0; } else { _updateRoll = false; } } if (_updateRollStart) { _timerRoll += 0.01; if (_timerRoll > 1.0) { _timerRoll = 1.0; _updateRollStart = false; } _rotate.slerp(_timerRoll, _rotate, _rotateNew); } if (_updateAltitude) { //每帧调节高度 osg::Vec3d newEye = _eye; osg::Vec3d v3EyeLonLat; _srs->transformFromWorld(newEye, v3EyeLonLat); double _mAltitude = v3EyeLonLat.z(); double mAltitude = VRE_ENGINE.GetToolsFunc()->GetGeoPointAltitude(v3EyeLonLat.x(), v3EyeLonLat.y()) + MANIPULATOR_PERSONVIEWHEIGHT; double interprolationAltitude = mAltitude - _mAltitude; if (interprolationAltitude > 1) { interprolationAltitude /= 10.0; v3EyeLonLat.z() += interprolationAltitude; } else if (interprolationAltitude > 0.1) { v3EyeLonLat.z() += 0.1; } else { _updateAltitude = false; } osg::Vec3d FinalEye; _srs->transformToWorld(v3EyeLonLat, FinalEye); _eye = FinalEye; } }break; case(osgGA::GUIEventAdapter::PUSH): { }break; case(osgGA::GUIEventAdapter::RELEASE): { flushMouseEventStack(); }break; case(osgGA::GUIEventAdapter::DRAG): { if (calcMovement(ea))//根据鼠标在屏幕中的位置调整相机转向 { //reFreshSawSkyline(); _updateRoll = true; us.requestRedraw(); return true; } }; case(osgGA::GUIEventAdapter::SCROLL)://由于已经每帧都调整姿态，所以手动滚动不需要了 { osg::Vec3d v3Direction; //视点方向 osg::Matrix mCameraQuat; osg::Vec3d v3Eye, v3Center, v3Up; _rotate.get(mCameraQuat); mCameraQuat.getLookAt(v3Eye, v3Center, v3Up);//这里的v3Eye不是实际相机的位置，而是0，0，0 v3Direction = v3Center - v3Eye; v3Direction.normalize(); osg::Vec3d v3CrossVector = v3Up^v3Direction; v3CrossVector.normalize(); switch (ea.getScrollingMotion()) { case osgGA::GUIEventAdapter::ScrollingMotion::SCROLL_UP: { _eye += v3Direction * _speed *_speedMultiple; //reFreshSawSkyline(); _updateRoll = true; }break; case osgGA::GUIEventAdapter::ScrollingMotion::SCROLL_DOWN: { _eye -= v3Direction * _speed *_speedMultiple; //reFreshSawSkyline(); _updateRoll = true; }break; } //reFreshSawSkyline(); return true; }break; case (osgGA::GUIEventAdapter::KEYDOWN): { if (ea.getKey() == ‘r‘ || ea.getKey() == ‘R‘)//往头部前进 { gMinpulatorContgrol |= MANIPULATOR_R; } if (ea.getKey() == ‘f‘ || ea.getKey() == ‘F‘)//往尾部后退 { gMinpulatorContgrol |= MANIPULATOR_F; } if (ea.getKey() == ‘w‘ || ea.getKey() == ‘W‘ || ea.getKey() == osgGA::GUIEventAdapter::KEY_Up)//前进 { gMinpulatorContgrol |= MANIPULATOR_W; } if (ea.getKey() == ‘s‘ || ea.getKey() == ‘S‘ || ea.getKey() == osgGA::GUIEventAdapter::KEY_Down)//后退 { gMinpulatorContgrol |= MANIPULATOR_S; } if (ea.getKey() == ‘a‘ || ea.getKey() == ‘A‘ || ea.getKey() == osgGA::GUIEventAdapter::KEY_Left)//左移 { gMinpulatorContgrol |= MANIPULATOR_A; } if (ea.getKey() == ‘d‘ || ea.getKey() == ‘D‘ || ea.getKey() == osgGA::GUIEventAdapter::KEY_Right)//右移 { gMinpulatorContgrol |= MANIPULATOR_D; } if (ea.getKey() == ‘-‘ || ea.getKey() == ‘_‘ || ea.getKey() == osgGA::GUIEventAdapter::KEY_Page_Down)//减10倍移动速度 { _speedBase /= 10.0; if (_speedBase < 0.1) { _speedBase = 0.1; } } if (ea.getKey() == ‘=‘ || ea.getKey() == ‘+‘ || ea.getKey() == osgGA::GUIEventAdapter::KEY_Page_Up)//加10倍移动速度 { _speedBase *= 10.0; if (_speedBase > 1000.0) { _speedBase = 1000.0; } } if (ea.getKey() == ‘h‘ || ea.getKey() == ‘H‘)//在当前经纬度，姿态回正：1.视点向地面 2.头部向正北 { reFreshSawEarth(); } if (ea.getKey() == ‘g‘ || ea.getKey() == ‘G‘)//在当前经纬度，头部回正：1.视点中心不变 2.头部向天 { reFreshSawSkyline(); } if (ea.getKey() == osgGA::GUIEventAdapter::KEY_Shift_L || ea.getKey() == osgGA::GUIEventAdapter::KEY_Shift_R) { _speedMultiple = 10.0; } }break; case (osgGA::GUIEventAdapter::KEYUP): { if (ea.getKey() == osgGA::GUIEventAdapter::KEY_Shift_L || ea.getKey() == osgGA::GUIEventAdapter::KEY_Shift_R) { _speedMultiple = 1.0; } if (ea.getKey() == ‘a‘ || ea.getKey() == ‘A‘ || ea.getKey() == osgGA::GUIEventAdapter::KEY_Left)//左移 { gMinpulatorContgrol &= ~MANIPULATOR_A; _updateAltitude = true; } if (ea.getKey() == ‘d‘ || ea.getKey() == ‘D‘ || ea.getKey() == osgGA::GUIEventAdapter::KEY_Right)//右移 { gMinpulatorContgrol &= ~MANIPULATOR_D; _updateAltitude = true; } if (ea.getKey() == ‘w‘ || ea.getKey() == ‘W‘ || ea.getKey() == osgGA::GUIEventAdapter::KEY_Up)//前进 { gMinpulatorContgrol &= ~MANIPULATOR_W; _updateAltitude = true; } if (ea.getKey() == ‘q‘ || ea.getKey() == ‘Q‘ || ea.getKey() == osgGA::GUIEventAdapter::KEY_Page_Up)//往头部前进 { gMinpulatorContgrol &= ~MANIPULATOR_R; _updateAltitude = true; } if (ea.getKey() == ‘e‘ || ea.getKey() == ‘E‘ || ea.getKey() == osgGA::GUIEventAdapter::KEY_Page_Down)//往尾部后退 { gMinpulatorContgrol &= ~MANIPULATOR_F; _updateAltitude = true; } if (ea.getKey() == ‘s‘ || ea.getKey() == ‘S‘ || ea.getKey() == osgGA::GUIEventAdapter::KEY_Down)//后退 { gMinpulatorContgrol &= ~MANIPULATOR_S; _updateAltitude = true; } }break; default: break; } return handled; }
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