由姿态四元数导出的拟欧拉角姿态描述继承了四元数无奇异的优点,并明确了相关分量的物理意义,但其同时也继承了四元数的双值性。本文对传统的拟欧拉角进行适应性改进,构建了改进的拟欧拉角,克服了原有姿态描述的双值性,并基于改进的拟欧拉角提出了新的相平面姿态开关控制律。最后对所提出的控制方案进行了仿真验证。 The quasi-Euler angle posture description derived from the quaternion of attitude inherits the advantage of quaternion without singularity and clarifies the physical meaning of related components, but it also inherits the duality of quaternion. In this paper, the traditional quasi-Euler angle is improved adaptively, an improved Euler angle is constructed, the duality of the original pose description is overcome, and a new phase plane attitude switch control is proposed based on the improved Euler angles law. Finally, the proposed control scheme is verified by simulation.