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Angular speed-based Eulerian angle optional step length orthogonal series exponential type approximate output method

A technology of orthogonal series and output method, applied in directions such as navigation through velocity/acceleration measurement, and can solve problems such as poor Euler angle output accuracy

Inactive Publication Date: 2012-05-02
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In order to overcome the problem of poor output accuracy of Euler angles during the maneuvering flight of the existing aircraft, the present invention provides an approximate output method of Euler angles with arbitrary step length orthogonal series exponential type based on angular velocity

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  • Angular speed-based Eulerian angle optional step length orthogonal series exponential type approximate output method
  • Angular speed-based Eulerian angle optional step length orthogonal series exponential type approximate output method
  • Angular speed-based Eulerian angle optional step length orthogonal series exponential type approximate output method

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Embodiment Construction

[0047] 1. (a) According to the rigid body attitude equation (Euler equation):

[0048]

[0049] In the formula: θ, ψ refer to the roll, pitch, and yaw angles respectively; p, q, r are the roll, pitch, and yaw angular velocities respectively; the definitions of the parameters throughout the text are the same; the calculation of these three Euler angles is to solve the pitch angle, roll The steps of rotation angle and yaw angle are carried out; the expansion expressions of roll, pitch, and yaw angular speed p, q, and r are respectively

[0050] p(t)=pξ, q(t)=qξ, r(t)=rξ

[0051] in

[0052] p=[p 0 p 1 L p n-1 p n ]q=[q 0 q 1 Q n-1 q n ]

[0053] r = [r 0 r 1 L r n-1 r n ]ξ=[ξ 0 (t)ξ 1 (t) L ξ n-1 (t)ξ n (t)] T

[0054] ξ 0 ( t ) = 1 ...

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Abstract

The invention discloses an angular speed-based Eulerian angle optional step length orthogonal series exponential type approximate output method, which is used for solving the technical problem of poor output angle accuracy of the Eulerian angle during mechanical flying of the conventional aerocraft. The technical scheme is that: a plurality of parameters are introduced, rolling, pitching and yawing angular speeds are expanded and approximated in an improved recurrence form which is similar to a Chebyshev orthogonal polynomial, the pitching angle, rolling angle and yawing angle are resolved insequence, and high-order approximate integration is performed on an expression of the Eulerian angle, so that the resolving of the Eulerian angle is approximated in an ultra-linear way, the time update iteration computing accuracy of the Eulerian angle is ensured, and the flying attitude output accuracy of inertia equipment is enhanced.

Description

technical field [0001] The invention relates to a method for determining the maneuvering flight attitude of an aircraft, in particular to an approximate output method of an Euler angle with an arbitrary step-length orthogonal series exponential type based on an angular velocity. Background technique [0002] Inertial equipment plays an important role in the navigation and control of moving bodies; the acceleration, angular velocity and attitude of rigid body motion usually depend on the output of inertial equipment, so improving the output accuracy of inertial equipment has clear practical significance; in inertial equipment, the acceleration adopts The accelerometer and angular velocity are directly measured by the angular rate gyro. When the attitude accuracy of the rigid body is very high, such as the flight test, the attitude gyro is used for measurement. However, in many application fields, the angular velocity and other measurements are directly calculated and output; t...

Claims

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Application Information

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IPC IPC(8): G01C21/16
Inventor 史忠科
Owner NORTHWESTERN POLYTECHNICAL UNIV