Quaternion Hermitian approximate output method based on angular velocities for aircraft during extreme flight

Abstract

The invention discloses a quaternion Hermitian approximate output method based on angular velocities for an aircraft during extreme flight, which is used for solving the technical problem of poor precision of quaternion outputted by existing inertial equipment when an aircraft is in extreme flight. The technical scheme includes that approximate prescription for a rolling angular velocity p, a pitching angular velocity q and a yawing angular velocity r is realized by the aid of a Hermitian orthogonal polynomial, a quaternion state transition matrix is directly obtained, and accordingly iterative computation precision of quaternion is guaranteed. The quaternion Hermitian approximate output method has the advantages that orders of the Hermitian orthogonal polynomial for the rolling angular velocity p, the pitching angular velocity q and the yawing angular velocity r can be determined according to the requirement of engineering precision, superlinear approximation for a quaternion state equation transition matrix phie[(k+1)T, kT] is realized, iterative computation precision of specified quaternion is guaranteed, and accordingly output precision of inertial equipment is improved when the aircraft is in extreme flight.

Description

technical field [0001] The invention relates to an attitude output method of an airborne inertial device of an aircraft, in particular to a quaternion Emmett approximation output method based on an angular velocity when the aircraft is in extreme flight. Background technique [0002] Usually, the acceleration, angular velocity, and attitude of rigid body motion depend on the output of inertial equipment, so improving the output accuracy of inertial equipment has clear practical significance. Space motions such as aircraft, torpedoes, and spacecraft use differential equations of rigid body motion in most cases; and the differential equations describing the attitude of rigid bodies are the core of them, usually with three Euler angles, namely pitch, roll and yaw angles To describe, usually the pitch, roll and yaw angular velocities in the airborne inertial equipment are calculated and output. When the pitch angle of the rigid body is ±90°, the roll angle and yaw angle cannot ...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the problem of large error in the existing quaternion output, the present invention provides a method for approximate output of quaternion Emmett when the aircraft is in extreme flight based on angular velocity. The method uses Emmett orthogonal polynomials for roll, pitch, The approximate description of the yaw angular velocity p, q, r can ensure the iterative calculation accuracy of the determination of the quaternion, thereby improving the precision of the quaternion output by the inertial equipment during the extreme flight of the aircraft;

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