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 ballistic characteristics of a submarine missile, the submarine missile under water force is analyzed. The underwater movement of the missile is divided into four sections to establish the missile underwater motion equation. Due to the vertical launch of the submarine missile, the quaternion method is used to establish the kinematics equation of the missile to avoid the singularity of the traditional Euler equations. Then the underwater missile simulation models are established under the Matlab / Simulink environment, Simulation results show that the proposed model simulates the underwater movement of the submarine missile and paves the way for further research on the underwater movement and the attitude of the submerged missile.