文摘:给出保持轨道在给定流形上的数字仿真方法，特别对飞行器轨道仿真中的四元数微分方程组的求解给出保范处理。

• Abstract: The digital simulation methods for maintaining the trajectory on a given manifold are presented.Particularly,the norm conserving schemes are given for the solution of the system of the quaternion equations in the trajectory simulation of the vehicle.