Hartley Approximate Output Method of Euler Angle Based on Angular Velocity

An output method, Euler angle technology, applied in the field of Euler angle Hartley approximate output based on angular velocity, can solve the problem of poor output accuracy of Euler angle

Inactive Publication Date: 2014-10-29
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 Hartley approximate output method for Euler angles based on angular velocity

Method used

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  • Hartley Approximate Output Method of Euler Angle Based on Angular Velocity
  • Hartley Approximate Output Method of Euler Angle Based on Angular Velocity
  • Hartley Approximate Output Method of Euler Angle Based on Angular Velocity

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Embodiment Construction

[0068] 1. (a) According to the rigid body attitude equation (Euler equation):

[0069]

[0070] In the formula: They refer to the roll, pitch, and yaw angles respectively; 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 yaw angle in sequence The steps of the flight angle are carried out; the expansion expressions of the roll, pitch, and yaw angular velocities p, q, and r are respectively

[0071] p(t)=[p -n L p -1 p 0 p 1 L p n ][ξ -n (t) L ξ -1 (t) ξ 0 (t) ξ 1 (t) L ξ n (t)] T

[0072] q(t)=[q -n Q -1 q 0 q 1 Q n ][ξ -n (t) L ξ -1 (t) ξ 0 (t) ξ 1 (t) L ξ n (t)] T

[0073] r(t)=[r -n L r -1 r 0 r 1 L r n ][ξ -n (t) L ξ -1 (t) ξ 0 (t) ξ 1 (t) L ξ n (t)] T

[0074] where: ξ i (t)=cas(iωt)=cos(iωt)+sin(iωt), (i=-n, -n+1, ​​L, -1, 0, 1, 2, L, n), defi...

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Abstract

The invention discloses an Euler angle Hartley 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 performing approximate description of the angular speeds of rolling, pitching and yawing (p, q and r) by using a polynomial of the Hartley function; determining the order of polynomial description of the angular speeds of rolling, pitching and yawing (p, q and r) according to the requirement on the engineering precision; 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 a method for approximately outputting Euler angle Hartley based on 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; the main reason is that the dynamic attitude The sensor i...

Claims

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Application Information

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