Approximate output method of Euler angle polynomial class based on angular velocity

An output method, polynomial technology, applied in the direction of integrated navigator, etc., can solve the problem of poor output accuracy of Euler angles

Inactive Publication Date: 2012-06-13
NORTHWESTERN POLYTECHNICAL UNIV
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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 existing

Method used

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  • Approximate output method of Euler angle polynomial class based on angular velocity
  • Approximate output method of Euler angle polynomial class based on angular velocity
  • Approximate output method of Euler angle polynomial class based on angular velocity

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Experimental program
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Embodiment Construction

[0066] 1. (a) According to the rigid body attitude equation (Euler equation):

[0067]

[0068] ψ refers to the roll, pitch, and yaw angles; p, q, and 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 angle, and The steps of the yaw angle are carried out; the expansion expressions of the roll, pitch, and yaw angular velocities p, q, and r are respectively

[0069] p(t)=[p 0 p 1 L p n-1 p n ]M[1 t L t n-1 t n ] T

[0070] q(t)=[q 0 q 1 Q n-1 qn ]M[1 t L t n-1 t n ] T

[0071] r(t)=[r 0 r 1 L r n-1 r n ]M[1 t L t n-1 t n ] T

[0072] Among them: M is a constant matrix defined in advance, and T is defined as the sampling period;

[0073] For Chebyshev (Chebyshev) orthogonal polynomials:

[0074] ξ 0 ...

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Abstract

The invention discloses an approximate output method of Euler angle polynomial class based on angular velocity, which is used for solving the technical problem that output accuracy of Euler angles is poor during maneuver flight of an existing aircraft. The technical scheme includes: introducing a plurality of parameters, adopting any describable limited unified polynomial to perform approximate approaching description on rolling angular velocity p, pitching angular velocity q and yawing angular velocity r, pre-defining constant matrices M according to requirements of project accuracy so as to reduce degree of polynomial description of the rolling angular velocity p, pitching angular velocity q and yawing angular velocity r, sequentially evaluating a pitching angle, a rolling angle and a yawing angle, directly performing high-order approaching integration on an expression of the Euler angle so as to lead the evaluation of the Euler angle to be in super-linear approaching, ensure time updating iterative computation accuracy of the Euler angle and accordingly improve accuracy of output flight attitude of an inertia device.

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 based on an angular velocity Euler angle polynomial. 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; the main reason is that the dynamic attitude The sensor is e...

Claims

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Application Information

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IPC IPC(8): G01C21/24
Inventor 史忠科
Owner NORTHWESTERN POLYTECHNICAL UNIV
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