By transformation, the differential equation group of couple motions of solar wings and the central rigid body of the spacecraft is obtained.
通过变换，给出太阳帆板、航天器中心刚体耦合运动微分方程组。
Secondly, a real number quaternion transformation is used to study the general motion of a rigid body and the relative motion of several rigid bodies;
其次，得到了刚体和一般运动中的实数四元数形式的姿态方程式和位移方程式。
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