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Euler angle Hermite approximate output method based on angular speed

An output method and angular velocity technology, applied in the field of Euler angle Emmett approximation output based on angular velocity, can solve problems such as poor Euler angle output accuracy

Inactive Publication Date: 2012-06-13
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the problem of poor output accuracy of Euler angles during the maneuvering flight of existing aircraft, the present invention provides a method for approximate output of Euler angles Emmett based on angular velocity

Method used

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  • Euler angle Hermite approximate output method based on angular speed
  • Euler angle Hermite approximate output method based on angular speed
  • Euler angle Hermite approximate output method based on angular speed

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Experimental program
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Embodiment Construction

[0071] 1. (a) According to the rigid body attitude equation (Euler equation):

[0072]

[0073] In the formula: 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

[0074] p(t)=[p 0 p 1 L p n-1 p n ][ξ 0 (t)ξ 1 (t) L ξ n-1 (t)ξ n (t)] T

[0075] q(t)=[q 0 q 1 Q n-1 q n ][ξ 0 (t)ξ 1 (t) L ξ n-1 (t)ξ n (t)] T

[0076] r(t)=[r 0 r 1 L r n-1 r n ][ξ 0 (t)ξ 1 (t)L ξ n-1 (t)ξ n (t)] T

[0077] in

[0078] ξ 0 ( t ) ...

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Abstract

The invention discloses an Euler angle Hermite approximate output method based on angular speed, which is used for solving the technical problem of low Euler angle output precision of maneuver of the conventional aircraft. According to the technical scheme, the method comprises the following steps of: introducing multiple parameters and expanding the angular speeds of rolling, pitching and yawing according to the Hermite orthogonal polynomial; and sequentially solving a pitching angle, a rolling angle and a yawing angle and directly performing high-order approximation integral on the expression of an Euler angle so that the Euler angle is solved in a super-linear approximation way, the precision of time update iterative computation for determining the Euler angle is ensured and the accuracy of the output flight attitude of inertia equipment is improved.

Description

technical field [0001] The invention relates to a method for determining the maneuvering flight attitude of an aircraft, in particular to an angular velocity-based Euler angle Emmett approximation output method. 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 expensive...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/11
Inventor 史忠科
Owner NORTHWESTERN POLYTECHNICAL UNIV