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传统欧拉角控制方法在处理大姿态角机动时往往出现奇异和交联问题。针对这一问题对欧拉角的跳变现象进行了讨论， 并从飞行器实际姿态与需求姿态之间的空间关系入手， 给出了一种消除欧拉角跳变现象的有效方法——转移矩阵法。仿真计算表明， 该方法在大型航天器的姿态控制中可以有效地消除欧拉角奇异、交联和跳跃现象， 在欧拉角跳变的情况下仍然能够实现对飞行器的控制。
The traditional Euler angle control method is often singular and cross-linked when dealing with large attitude angles. Aiming at this problem, the phenomenon of the transition of Euler angles is discussed. Based on the spatial relationship between the actual attitude and the demand attitude of aircraft, an effective method to eliminate the transition phenomenon of Euler angles is given - the transition matrix law. The simulation results show that this method can effectively eliminate the Euler angles singularity, cross-linking and jumping in the attitude control of large spacecraft, and can still control the aircraft when the Euler angle jumps.