中文摘要：

介绍了刚体航天器姿态运动的（W，Z）参数描述方法和以（W，Z）参数表示的姿态运动学方程，给出了（W，Z）参数描述的方向余弦矩阵。推导出（W，Z）参数与欧拉角、四元数、罗得里格斯参数常用姿态坐标之间转换关系，比较表明，（W，Z）参数描述刚体具有简洁，直观的优点。

英文摘要：

This paper gives detail discussion of attitude representation and kinematic differential equations of spacecraft by using （w,z） parameter. It also describes the direction cosine matrix. The relationships of （w, z） parameter with Euler angle, Quaternion and Rodrigues are then provided. The strengths and weaknesses of the attitude representations are pointed out as well. Result shows that spacecraft using （w,z） parameter has the advantage of simple and clear geometric interpretation.